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NOVEL 3D MATCHING SELF-LOCALISATION ALGORITHM

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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.
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

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