A New Fast Histogram Matching Algorithm for Laser Scan Data
文献类型：会议论文
| 作者 | Qiu Q(邱权); Han JD(韩建达)
|
| 出版日期 | 2008 |
| 会议名称 | IEEE Conference on Robotics, Automation, and Mechatronics |
| 会议日期 | September 21-24, 2008 |
| 会议地点 | Chengdu, China |
| 关键词 | fast histogram matching laser scan |
| 页码 | 393-397 |
| 中文摘要 | This paper presents a new fast histogram matching algorithm for tracking the position and orientation of robots without the help of any odometers. Histogram avoids extracting geometrical primitives from the sensor data, acts independently from odometers, and is easy to be implemented. Here, the authors employ it to analyze laser scan data. A new concept named "hierarchical histogram structure" is introduced for constructing and matching histograms. This structure makes full use of the information in a laser scan and speeds up the histogram matching to a satisfying level. Computational complexity analysis and experiments show the feasibility of the new algorithm both mathematically and factually. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE |
| 会议录 | 2008 IEEE CONFERENCE ON ROBOTICS, AUTOMATION, AND MECHATRONICS, VOLS 1 AND 2
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-1675-2 |
| WOS记录号 | WOS:000269060400073 |
| 源URL | [http://ir.sia.cn/handle/173321/8495]  |
| 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 | Qiu Q,Han JD. A New Fast Histogram Matching Algorithm for Laser Scan Data[C]. 见:IEEE Conference on Robotics, Automation, and Mechatronics. Chengdu, China. September 21-24, 2008. |
入库方式： OAI收割
来源：沈阳自动化研究所
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