High-speed laser localization for mobile robots
نویسندگان
چکیده
This paper describes a novel, laser-based approach for tracking the pose of a high-speed mobile robot. The algorithm is outstanding in terms of accuracy and computation time. The efficiency is achieved by a closed-form solution for the matching of two laser scans, the use of natural scan features and fast linear filters. The implemented algorithm is evaluated with the high-speed robot Kurt3D (4 m/s), and compared to standard scan matching methods in indoor and outdoor environments. © 2005 Elsevier B.V. All rights reserved.
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ورودعنوان ژورنال:
- Robotics and Autonomous Systems
دوره 51 شماره
صفحات -
تاریخ انتشار 2005