An Improved Serial Method for Mobile Robot SLAM
文献类型：会议论文
| 作者 | Weina Xi; Yongsheng Ou; Wei Feng; Gang Yu |
| 出版日期 | 2017 |
| 会议地点 | Maccau SAR, China |
| 英文摘要 | Computational cost and real-time performance are important factors that many algorithms need to consider. For this purpose, this paper proposes an improved serial implementation strategy of mobile robot SLAM by combining Fast Fourier Transformation (FFT) and Iterative Closest Point (ICP) which is named FFT-ICP. We use FFT to localize coarsely and then use the results of FFT as the initial values of ICP to localize precisely. The experiments show that the method proposed here not only can speed up the operation, but also has higher precision through combining FFT and ICP. In addition, this method compromises the pros and cons of FFT and ICP. This technique is proven to be helpful for constructing an on-line SLAM system. |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/11889]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2017 |
| 推荐引用方式 GB/T 7714 | Weina Xi,Yongsheng Ou,Wei Feng,et al. An Improved Serial Method for Mobile Robot SLAM[C]. 见:. Maccau SAR, China. |
入库方式： OAI收割
来源：深圳先进技术研究院
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