Fast Localization form Laser Range-finder Data

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F04%3A03104975" target="_blank" >RIV/68407700:21230/04:03104975 - isvavai.cz</a>

Result on the web

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DOI - Digital Object Identifier

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Result language

angličtina

Original language name

Fast Localization form Laser Range-finder Data

Original language description

The contribution presents a novel method for continuous position localization of indoor mobile robots using geometric features extracted from a laser ranging system. The leading idea of the approach is to represent sensor measurements of the environmentby lines and match the lines of two succeeding scans (the actual scan and the reference scan). A crucial part of the method is to find a corresponding line from the reference scan for each line from the actual scan. Therefore, a correspondence criterionbased on distances between boundary points of lines was defined. The proposed algorithm has also been generalized and being able to correct large position errors. The method has been experimentally verified and the achieved results are presented and discussed.

Czech name

Není k dispozici

Czech description

Není k dispozici

Type

A - Audiovisual production

CEP classification

JC - Computer hardware and software

OECD FORD branch

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Project

<a href="/en/project/LN00B096" target="_blank" >LN00B096: Center for Applied Cybernetics</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2004

Confidentiality

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

ISBN

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Place of publication

Lisboa

Publisher/client name

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Version

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Carrier ID

neuvedeno