Study on the Localization for a Rescue Robot Based on Laser Scan Matching

Q1 Social Sciences HumanMachine Communication Journal Pub Date : 2010-04-24 DOI:10.1109/MVHI.2010.8
Jinliang Li, J. Bao, Yan Yu
{"title":"Study on the Localization for a Rescue Robot Based on Laser Scan Matching","authors":"Jinliang Li, J. Bao, Yan Yu","doi":"10.1109/MVHI.2010.8","DOIUrl":null,"url":null,"abstract":"This paper studied the localization problem for a rescue robot based on laser scan matching and extended Kalman filtering (EKF). Scan matching method based on normal distribution transform (NDT) can avoid hard feature extraction problem by estimation of the probability distribution of laser scan data and localization can be achieved using correlation of the NDT. Based on NDT scan matching, the NDT-EKF algorithm has been proposed, which realizes fast and precise localization in rescue environment by fusing odometery data and scan matching together. The NDT-EKF algorithm has been extensively tested and experimental results show its effectiveness and robustness.","PeriodicalId":34860,"journal":{"name":"HumanMachine Communication Journal","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2010-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"HumanMachine Communication Journal","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MVHI.2010.8","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"Social Sciences","Score":null,"Total":0}
引用次数: 1

Abstract

This paper studied the localization problem for a rescue robot based on laser scan matching and extended Kalman filtering (EKF). Scan matching method based on normal distribution transform (NDT) can avoid hard feature extraction problem by estimation of the probability distribution of laser scan data and localization can be achieved using correlation of the NDT. Based on NDT scan matching, the NDT-EKF algorithm has been proposed, which realizes fast and precise localization in rescue environment by fusing odometery data and scan matching together. The NDT-EKF algorithm has been extensively tested and experimental results show its effectiveness and robustness.
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
基于激光扫描匹配的救援机器人定位研究
研究了基于激光扫描匹配和扩展卡尔曼滤波(EKF)的救援机器人定位问题。基于正态分布变换(NDT)的扫描匹配方法通过估计激光扫描数据的概率分布,避免了特征提取难的问题,并利用NDT的相关性实现了定位。在无损检测扫描匹配的基础上,提出了NDT- ekf算法,将里程数据和扫描匹配融合在一起,实现了救援环境下快速精确的定位。对NDT-EKF算法进行了大量的测试,实验结果表明了该算法的有效性和鲁棒性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 去求助
来源期刊
CiteScore
10.00
自引率
0.00%
发文量
10
审稿时长
8 weeks
期刊最新文献
Defining Dialogues: Tracing the Evolution of Human-Machine Communication Who is (communicatively more) responsible behind the wheel? Applying the theory of communicative responsibility to TAM in the context of using navigation technology Archipelagic Human-Machine Communication: Building Bridges amidst Cultivated Ambiguity Triggered by Socialbots: Communicative Anthropomorphization of Bots in Online Conversations Boundary Regulation Processes and Privacy Concerns With (Non-)Use of Voice-Based Assistants
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1