Force Field Based n-Scan Alignment

نویسندگان

  • Rolf Lakämper
  • Nagesh Adluru
  • Longin Jan Latecki
چکیده

We present a force field based approach for simultaneous alignment of multiple laser scans in robot mapping. It avoids sensitive behavior to wrong data associations and sparse sensing, which are the main challenges e.g. in multi robot mapping under the constraints given in autonomous search and rescue robotics. The presented algorithm solves the alignment problem utilizing a gradient descent approach motivated by physics, but exchanges laws of physics with constraints given by human perception. Experiments on different real world data sets show the successful application of the algorithm.

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تاریخ انتشار 2007