Scan Matching by Cross-Correlation and Differential Evolution

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Scan Matching by Cross-Correlation and Differential Evolution

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Scan Matching by Cross-Correlation and Differential Evolution

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Centrum výzkumu pokročilých mechatronických systémů</a><br>

Návaznosti

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

Rok uplatnění

2019

Kód důvěrnosti údajů

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

Název periodika

Electronics

ISSN

2079-9292

e-ISSN

—

Svazek periodika

8

Číslo periodika v rámci svazku

8

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

20

Strana od-do

—

Kód UT WoS článku

000483554300013

EID výsledku v databázi Scopus

2-s2.0-85070740986