Publicação
NOVEL 3D MATCHING SELF-LOCALISATION ALGORITHM
| Resumo: | A new and fast methodology is discussed as a solution to pinpointing the location of a robot called RobVigil, in a robust way, without environment preparation, even in dynamic scenarios. This solution does not require a high computational power. Firstly, the EKF-SLAM is used to find the location of the vehicle, allowing to map the surrounding area in the 3D space. Afterwards, the constructed map is used in a 3D matching algorithm during the normal operation of the vehicle to pinpoint its location. The 3D matching algorithm uses data from a tilting Laser Range Finder. Experimental results on the performance and accuracy of the proposed method are presented in this paper. |
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| Autores principais: | Aníbal Matos |
| Outros Autores: | Miguel Armando Pinto; António Paulo Moreira; Héber Miguel Sobreira |
| Ano: | 2012 |
| País: | Portugal |
| Tipo de documento: | artigo |
| Tipo de acesso: | acesso embargado |
| Instituição associada: | INESC TEC |
| Idioma: | inglês |
| Origem: | INESC TEC |
| Resumo: | A new and fast methodology is discussed as a solution to pinpointing the location of a robot called RobVigil, in a robust way, without environment preparation, even in dynamic scenarios. This solution does not require a high computational power. Firstly, the EKF-SLAM is used to find the location of the vehicle, allowing to map the surrounding area in the 3D space. Afterwards, the constructed map is used in a 3D matching algorithm during the normal operation of the vehicle to pinpoint its location. The 3D matching algorithm uses data from a tilting Laser Range Finder. Experimental results on the performance and accuracy of the proposed method are presented in this paper. |
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