Point-based Scan Matching by Differential Evolution
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F16%3A86100121" target="_blank" >RIV/61989100:27240/16:86100121 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/INCoS.2016.62" target="_blank" >http://dx.doi.org/10.1109/INCoS.2016.62</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/INCoS.2016.62" target="_blank" >10.1109/INCoS.2016.62</a>
Alternative languages
Result language
angličtina
Original language name
Point-based Scan Matching by Differential Evolution
Original language description
Nature-inspired metaheuristics have been applied in many different areas and have shown good results in comparison with traditional domain-specific optimization methods. In this work, we investigate the ability of a simple variant of differential evolution to solve 2D scan matching problem. It consists in finding an optimum affine transformation (rotation and translation) between two laser scans (2D pointclouds). Parameters of the affine transformation are in this approach determined by differential evolution. All steps of the proposed algorithm are data parallel and can be efficiently accelerated by massively parallel platforms including mobile graphical processing units. The proposed method was implemented and experimentally evaluated on a test data set. The obtained results show that it achieves a good accuracy and is a promising technique for real-world applications in mobile robotics.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
IN - Informatics
OECD FORD branch
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Result continuities
Project
<a href="/en/project/GJ16-25694Y" target="_blank" >GJ16-25694Y: Multi-paradigm data mining algorithms based on information retrieval, fuzzy, and bio-inspired methods</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
8th International Conference on Intelligent Networking and Collaborative Systems (INCoS 2016) : proceedings papers
ISBN
978-1-5090-4123-7
ISSN
2470-9166
e-ISSN
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Number of pages
7
Pages from-to
215-221
Publisher name
IEEE
Place of publication
Vienna
Event location
Ostrava
Event date
Sep 7, 2016
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000386596100037