Map building of unknown environment using PSO-tuned enhanced Iterative Closest Point algorithm

C. Hsu, Hua-En Chang, Yin-Yu Lu
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引用次数: 6

Abstract

Iterative Closest Point (ICP) algorithm is widely used in 2D and 3D spatial and geometric alignment. There are many variants of the ICP algorithm, proposing methods to minimize the sum of Euclidean distances between two clouds of scanning points for map building of an unknown environment by a mobile robot. Considering simplicity and computational efficiency, this paper proposes an enhanced-ICP incorporating a Particle Swarm Optimization (PSO) to effectively filter out outliers and avoid the false matching points during the map building process. Experimental results showed that, the proposed PSO-tuned enhanced-ICP can effectively reduce the accumulated errors to improve the map building accuracy by circumventing the problems of local optimal solutions resulted from the outliers and false matching points during the map building process.
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基于pso优化的增强迭代最近点算法的未知环境地图构建
迭代最近点(ICP)算法广泛应用于二维和三维空间和几何对齐。ICP算法有许多变体,提出了最小化两云扫描点之间的欧几里得距离之和的方法,用于移动机器人对未知环境的地图构建。考虑到算法的简单性和计算效率,本文提出了一种结合粒子群优化(PSO)的增强型icp算法,以有效地滤除地图生成过程中的异常点,避免地图生成过程中的错误匹配点。实验结果表明,本文提出的pso调优增强icp算法能够有效地减少累积误差,避免地图生成过程中因离群点和错误匹配点导致的局部最优解问题,提高地图生成精度。
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