Multiple Laser Polar Scan Matching with Application to SLAM
نویسندگان
چکیده
Polar Scan Matching is one of the methods of point to point scan matching for Simultaneous Localization and Mapping Application. It works in the original laser polar coordinate system and therefore eliminates the need for an expensive correspondence search as in other scan matching methods by using the matching bearing association rule. However, most of the low-cost laser range finders available on the market have limited field of view and therefore the use of more than one laser range finder is necessary to cover 360 degree field of view and hence to provide a better Scan-Matching SLAM performance. This paper presents extensions of Polar Scan Matching to allow for matching with multiple laser scans simultaneously. Also a method for updating reference scans while mapping the environment is introduced. This paper also illustrates the advantages of using multiple laser range finders for SLAM. The results are illustrated with results from SLAM with a mobile robot equipped with two laser rangefinders.
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