Mobile robot indoor map building and pose tracking using laser scanning
文献类型：会议论文
| 作者 | Zhuang Y(庄严); Tang, Shubo; Liu, Lei ; Wang W(王伟)
|
| 出版日期 | 2004 |
| 会议名称 | International Conference on Intelligent Mechatronics and Automation |
| 会议日期 | August 26-31, 2004 |
| 会议地点 | Chengdu, China |
| 关键词 | map building pose tracking laser scanner extend Kalman filter uncertainty representation |
| 页码 | 656-661 |
| 通讯作者 | 庄严 |
| 中文摘要 | Map building and pose tracking are central tasks fer an autonomous mobile robot's navigation. The intention of this paper is to introduce our research in mobile robot indoor map building and pose tracking using laser range finder. The line feature extraction methods, which Include improved angle histograms algorithm and weighted least square fitting, are proposed firstly. We then discuss the criterion of lines merging in map building. The pose tracking approach based on Extended Kalman Filter is also presented in this paper. Conclusions and experimental results based on a real mobile platform are also given in the final part of this paper. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | Hong Kong Univ Sci & Technol, Kagawa Univ, Univ Electro Commun, Natl Nat Sci Fdn China, Shanghai Univ, Harbin Engn Univ, Japan Soc Precis Engn, IEEE Robot & Automat Soc, IEEE Syst, Man & Cybernet Soc, IEEE Shikoku Sect, Chinese Inst Elect, Chinese Soc Mech Engn, China Cleaning Engn Technol Cooperat Assoc, Robot Soc Japan, Int Mechatron Forum, JSPE, Tech Comm Intell Mechatron, Minist Educ, China |
| 会议录 | PROCEEDINGS OF THE 2004 INTERNATIONAL CONFERENCE ON INTELLIGENT MECHATRONICS AND AUTOMATION
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 0-7803-8748-1 |
| WOS记录号 | WOS:000225452400125 |
| 源URL | [http://ir.sia.cn/handle/173321/20005]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Zhuang Y,Tang, Shubo,Liu, Lei,et al. Mobile robot indoor map building and pose tracking using laser scanning[C]. 见:International Conference on Intelligent Mechatronics and Automation. Chengdu, China. August 26-31, 2004. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。