A scan matching method using euclidean invariant signature for global localization and map building

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2004, Issue 1, 2004, Pages 866-871

  Tomono, Masahiro ^a  

^a JAPAN SCIENCE AND TECHNOLOGY AGENCY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; FEATURE EXTRACTION; GEOMETRY; HUMAN COMPUTER INTERACTION; PROBABILISTIC LOGICS; ROBUSTNESS (CONTROL SYSTEMS);

GEOMETRIC HASHING SCHEME; LASER RANGE FINDER (LRF); ROBOT-MOTION MODEL; SIMULTANEOUS LOCALIZATION AND MAPPING (SLAM);

MOBILE ROBOTS;

EID: 3042621495     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/robot.2004.1307258     Document Type: Conference Paper

References (14)

1. P. J. Besl and N. D. Mckay: "A Method of Registration of 3-D Shapes," IEEE Trans. on PAMI, Vol. 14, No. 2, pp. 239-256, 1992.
2. J. A. Castellanos, J. M. M. Montiel, J. Neira, and J. D. Tardos: "The SPmap: A Probabilistic Framework for Simultaneous Localization and Map Building," Trans. on Robotics and Automation, Vol. 15, No. 5, pp. 948-952, Oct. 1999.
3. J. S. Gutmann, T. Weigel, and B. Nebel: "Fast, Accurate, and Robust Self-Localization in Polygonal Environments," Proc. of IROS'99, 1999.
4. D. Hahnel, W. Burgard, D. Fox, and S. Thrun: "An Efficient FastSLAM Algorithm for Generating Maps of Large-Scale Cyclic Environments from Raw Laser Range Measurements," Proc of IROS2003, pp. 206-211, 2003.
5. Y. Lamdan and H. J. Wolfson: "Geometric Hashing: A General and Efficient Model-based Recognition Scheme," Proc. of ICCV'88, pp. 238-249, 1988.
6. J. J. Leonard and H. F. Durrant-Whyte: "Simultaneous Map Building and Localization for an Autonomous Mobile Robot," Proc. of IROS'91, pp. 1442-1447, 1991.
7. F. Lu and E. Milios: " Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans," J. of Intelligent and Robotic Systems, Vol. 18, pp. 249-275, 1997.
8. F. Lu and E. Milios: "Globally Consistent Range Scan Alignment for Environment Mapping," Autonomous Robots, 4:333-349, 1997.
9. M. Montemerlo, S. Thrun, D. Koller, and B. Wegbreit: "FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem," Proc of AAAI2002, 2002.
10. S. Thrun: " Robotic Mapping: A Survey," CMU-CS-02-111, Feb. 2002.
11. S. Thrun, et.al.: "A System for Volumetric Robotic Mapping of Abandoned Mines," Proc. of ICRA2003, 2003.
12. M. Tomono and S. Yuta: "Object-based Localization and Mapping using Loop Constraints and Geometric Prior Knowledge," Proc. of ICRA2003, 2003.
13. J. Weber, K. W. Jorg, and E. V. Puttkamer: "APR - Global Scan Matching Using Anchor Point Relationships," Proc. of IAS-6, 2000.
14. G. Weiss, G. Wetzler, and E. V. Puttkamer: "Keeping Track of Position and Orientation of Moving Indoor Systems by Correlation of Range-Finder Scans," Proc. of IROS'94, pp. 595-601, 1994.