Fast laser scan matching using polar coordinates

International Journal of Robotics Research

Volumn 26, Issue 10, 2007, Pages 1125-1153

  Diosi, Albert ^a   Kleeman, Lindsay ^a  

^a MONASH UNIVERSITY   (Australia)

Author keywords

Laser; Localization; Mapping; Range Sensing; Scan Matching

Indexed keywords

ALGORITHMS; CONVERGENCE OF NUMERICAL METHODS; LASERS;

ITERATED CLOSEST POINT; POLAR COORDINATE SYSTEM; POLAR SCAN MATCHING (PSM); RANGE SENSING; SCAN MATCHING;

SCANNING;

EID: 34748829174     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364907082042     Document Type: Article

References (25)

1. Besl, P.J. and McKay, N.D. (1992). A method for registration of 3D shapes. IEEE Transactions on Pattern Analysis and Machine Intelligence, 14 (2). 239 - 256.
2. Biber, P. and Straßer, W. (2003). The normal distributions transform: A new approach to laser scan matching. IROS'03, Vol. 3, Piscataway, NJ, IEEE, pp. 2743 - 2748.
3. Bosse, M., Newman, P., Leonard, J. and Teller, S. (2004). Simultaneous localization and map building in large-scale cyclic environments using the Atlas framework. The International Journal of Robotics Research 23 (12). 1113 - 1139.
4. Censi, A., Iocchi, L. and Grisetti, G. (2005). Scan matching in the Hough domain. Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Piscataway, NJ, IEEE.
5. Censi, A. (2006). Scan matching in a probabilistic framework. In Proceedings of the 2006 IEEE International Conference on Robotics and Automation, Piscataway, NJ, IEEE.
6. Cox, I.J. (1991). Blanche-an experiment in guidance and navigation of an autonomous robot vehicle. IEEE Transactions on Robotics and Automation 7 (2). 193 - 203.
7. Davison, A. (1998). Mobile Robot Navigation Using Active Vision. Ph.D. thesis, University of Oxford.
8. Diosi, A. and Kleeman, L. (2005). Scan matching in polar coordinates with application to SLAM. Technical Report MECSE-29-2005, Monash University, Department of Electrical and Computer Systems Engineering. Available at http://www.ds.eng.monash.edu.au/techrep/reports/
9. Dudek, G. and Jenkin, M. (2000). Computational Principles of Mobile Robotics, Cambridge, Cambridge University Press.
10. Gutmann, J.-S. (2000). Robuste Navigation autonomer mobiler Systeme. Ph.D. thesis, Albert-Ludwigs-Universitt Freiburg.
11. Hhnel, D., Burgard, W., Fox, D. and Thrun, S. (2003). An efficient fastSLAM algorithm for generating maps of large-scale cyclic environments from raw laser range measurements. IROS'03, Vol. 1, Piscataway, NJ, IEEE, pp. 206 - 211.
12. Jensen, B. and Siegwart, R. (2004). Scan alignment with probabilistic distance metric. Proceedngs of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Piscataway, NJ, IEEE.
13. Kay, S.M. (1993). Fundamentals of Statistical Signal Processing, Vol. 2: Estimation Theory, Englewood Cliffs, NJ, Prentice-Hall.
14. Lingemann, K., Surmann, H., Nchter, A. and Hertzberg, J. (2004). Indor and outdoor localization for fast mobile robots. IROS'04, Vol. 3, Piscataway, NJ, IEEE, pp. 2185 - 2190.
15. Lu, F. and Milios, E. (1997). Robot pose estimation in unknown environments by matching 2D range scans. Journal of Intelligent and Robotic Systems 20: 249 - 275.
16. Lu, F. (1995) Shape Registration Using Optimization for Mobile Robot Navigation. Ph.D. thesis, University of Toronto.
17. Menegatti, E., Pretto, A., Scarpa, A. and Pagello, E. (2006). Omnidirectional vision scan matching for robot localization in dynamic environments. IEEE Transactions on Robotics 22 (3). 523 - 535.
18. Minguez, J., Montesano, L. and Lamiraux, F. (2006). Metric-based iterative closest point scan matching for sensor displacement estimation. IEEE Transactions on Robotics, 22 (5). 1048 - 1054.
19. Montesano, L., Minguez, J. and Montano, L. (2005). Modeling the static and the dynamic parts of the environment to improve sensor-based navigation. IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain, pp. 4556-4562.
20. Montesano, L., Minguez, J. and Montano, L. (2005). Probabilistic scan matching for motion estimation in unstructured environments. IROS'05, pp. 3499 - 3504.
21. Nishino, K. and Ikeuchi, K. (2002). Robust simultaneous registration of multiple range images. The 5th Asian Conference on Computer Vision.
22. Thrun, S., Burgard, W. and Fox, D. (2000). A real-time algorithm for mobile robot mapping with applications to multi-robot and 3D mapping. ICRA'00, Vol. 1, Piscataway, NJ, IEEE, pp. 321 - 328.
23. Tomono, M. (2004). A scan matching method using Euclidean invariant signature for global localization and map building. ICRA'04, Vol. 1, Piscataway, NJ, IEEE, pp. 886 - 871.
24. Weiss, G. and Puttkamer, E. (1995). A map based on laserscans without geometric interpretation. Intelligent Autonomous Systems 4, pp. 403 - 407.
25. Ye, C. and Borenstein, J. (2002). Characterization of a 2D laser scanner for mobile robot obstacle negotiation. Proceedings of the 2002 IEEE International Conference on Robotics and Automation, Washington, DC, May, Piscataway, NJ, IEEE, pp. 2512-2518.