Novel Point-to-Point Scan Matching Algorithm Based on Cross-Correlation

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Novel Point-to-Point Scan Matching Algorithm Based on Cross-Correlation

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Novel Point-to-Point Scan Matching Algorithm Based on Cross-Correlation

Popis výsledku anglicky

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.

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

JB - Senzory, čidla, měření a regulace

OECD FORD obor

—

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2016

Kód důvěrnosti údajů

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

Název periodika

Mobile information systems

ISSN

1574-017X

e-ISSN

—

Svazek periodika

2016

Číslo periodika v rámci svazku

2016

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

11

Strana od-do

—

Kód UT WoS článku

000375587500001

EID výsledku v databázi Scopus

2-s2.0-84971667618