Novel Point-to-Point Scan Matching Algorithm Based on Cross-Correlation
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F16%3A86099666" target="_blank" >RIV/61989100:27240/16:86099666 - isvavai.cz</a>
Result on the web
<a href="https://www.hindawi.com/journals/misy/2016/6463945/" target="_blank" >https://www.hindawi.com/journals/misy/2016/6463945/</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1155/2016/6463945" target="_blank" >10.1155/2016/6463945</a>
Alternative languages
Result language
angličtina
Original language name
Novel Point-to-Point Scan Matching Algorithm Based on Cross-Correlation
Original language description
The localization of mobile robots in outdoor and indoor environments is a complex issue. Many sophisticated approaches, based on various types of sensory inputs and different computational concepts, are used to accomplish this task. However, many of the most efficient methods for mobile robot localization suffer from high computational costs and/or the need for high resolution sensory inputs. Scan cross-correlation is a traditional approach that can be, in special cases, used to match temporally aligned scans of robot environment. This work proposes a set of novel modifications to the cross-correlation method that extend its capability beyond these special cases to general scan matching and mitigate its computational costs so that it is usable in practical settings. The properties and validity of the proposed approach are in this study illustrated on a number of computational experiments. (C) 2016 Jaromir Konecny et al.
Czech name
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Czech description
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Classification
Type
J<sub>x</sub> - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)
CEP classification
JB - Sensors, detecting elements, measurement and regulation
OECD FORD branch
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Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Mobile information systems
ISSN
1574-017X
e-ISSN
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Volume of the periodical
2016
Issue of the periodical within the volume
2016
Country of publishing house
US - UNITED STATES
Number of pages
11
Pages from-to
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UT code for WoS article
000375587500001
EID of the result in the Scopus database
2-s2.0-84971667618