FFT based scan-matching for SLAM application with low-cost laser range finder
文献类型：期刊论文
| 作者 | Guolai Jiang; Lei Yin; Guodong Liu; Weina Xi; Yongsheng Ou |
| 刊名 | APPLIED SCIENCES-BASEL
 |
| 出版日期 | 2018 |
| 文献子类 | 期刊论文 |
| 英文摘要 | Simultaneous Localization and Mapping (SLAM) is an active area of robot research. SLAM with laser range finder (LRF) is an effective way for localization and navigation. However, commercial robots usually have to use low-cost LRF sensors, which results in lower resolution and higher noise. Traditional scan matching algorithms may often fail while robot running too fast in complex environments. According to this problem, this paper purposes a new method of scan matching based on Fast Fourier Transform (FFT), as well as its application with a low-cost LRF based SLAM frame-work. In our FFT based scan matching method, we change the scan data within a range of distance from laser to image. FFT is applied to the images to get the rotation angle and translation parameters. Experiment results show that the purposed method can improve the scan matching and SLAM performance for low-cost LRF in complex environments |
| URL标识 | 查看原文 |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/13682]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 推荐引用方式 GB/T 7714 | Guolai Jiang,Lei Yin,Guodong Liu,et al. FFT based scan-matching for SLAM application with low-cost laser range finder[J]. APPLIED SCIENCES-BASEL,2018. |
| APA | Guolai Jiang,Lei Yin,Guodong Liu,Weina Xi,&Yongsheng Ou.(2018).FFT based scan-matching for SLAM application with low-cost laser range finder.APPLIED SCIENCES-BASEL. |
| MLA | Guolai Jiang,et al."FFT based scan-matching for SLAM application with low-cost laser range finder".APPLIED SCIENCES-BASEL (2018). |
入库方式： OAI收割
来源：深圳先进技术研究院
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