ICP Algorithm in Mobile Robot Navigation: Analysis of Computational Demands in Embedded Solutions

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F16%3A86099944" target="_blank" >RIV/61989100:27240/16:86099944 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1016/j.ifacol.2016.12.079" target="_blank" >http://dx.doi.org/10.1016/j.ifacol.2016.12.079</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.ifacol.2016.12.079" target="_blank" >10.1016/j.ifacol.2016.12.079</a>

Result language
angličtina
Original language name
ICP Algorithm in Mobile Robot Navigation: Analysis of Computational Demands in Embedded Solutions
Original language description
An accurate robot localization, particularly in indoor environments, represents a challenging aspect in mobile robotics due to lack of computational power of commonly used embedded platforms. To reduce the required computational demands it is necessary to apply an efficient algorithm capable of parallelization. This contribution elaborates on implementation of Iterative Closest Point (ICP) laser scan matching algorithm. A computer program developed and optimized in C# language is compared to a mathematical model designed in MATLAB. The characteristics of both approaches are assessed based on computational demands (e.g. time) and nearest neighbor determination. (C) 2016
Czech name
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Czech description
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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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Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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