Scan Matching by Cross-Correlation and Differential Evolution

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F19%3A10242470" target="_blank" >RIV/61989100:27240/19:10242470 - isvavai.cz</a>

Result on the web

<a href="https://www.mdpi.com/2079-9292/8/8/856" target="_blank" >https://www.mdpi.com/2079-9292/8/8/856</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/electronics8080856" target="_blank" >10.3390/electronics8080856</a>

Result language

angličtina

Original language name

Scan Matching by Cross-Correlation and Differential Evolution

Original language description

Scan matching is an important task, solved in the context of many high-level problems including pose estimation, indoor localization, simultaneous localization and mapping and others. Methods that are accurate and adaptive and at the same time computationally efficient are required to enable location-based services in autonomous mobile devices. Such devices usually have a wide range of high-resolution sensors but only a limited processing power and constrained energy supply. This work introduces a novel high-level scan matching strategy that uses a combination of two advanced algorithms recently used in this field: cross-correlation and differential evolution. The cross-correlation between two laser range scans is used as an efficient measure of scan alignment and the differential evolution algorithm is used to search for the parameters of a transformation that aligns the scans. The proposed method was experimentally validated and showed good ability to match laser range scans taken shortly after each other and an excellent ability to match laser range scans taken with longer time intervals between them.

Czech name

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Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

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OECD FORD branch

20204 - Robotics and automatic control

Project

<a href="/en/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Research Centre of Advanced Mechatronic Systems</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year

2019

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Electronics

ISSN

2079-9292

e-ISSN

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Volume of the periodical

8

Issue of the periodical within the volume

8

Country of publishing house

CH - SWITZERLAND

Number of pages

20

Pages from-to

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UT code for WoS article

000483554300013

EID of the result in the Scopus database

2-s2.0-85070740986