Histogram matching and global initialization for laser-only SLAM in large unstructured environments

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2007, Pages 4820-4826

  Bosse, Michael ^a   Roberts, Jonathan ^a  

^a CSIRO   (Australia)

Author keywords

Closing the loop; Scan matching; SLAM

Indexed keywords

ALGORITHMS; CORRELATION METHODS; ENTROPY; FEATURE EXTRACTION; GLOBAL OPTIMIZATION; LASER APPLICATIONS;

ENTROPY METRICS; HISTOGRAM MATCHING; SLAM IMPLEMENTATION;

VIRTUAL REALITY;

EID: 36348968359     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2007.364222     Document Type: Conference Paper

References (11)

1. F. Lu and E. Milios, "Robot pose estimation in unknown environments by matching 2D range scans," in IEEE Computer Society Conference on Computer Vision and Pattern Recognition, Seattle, USA, June 1994, pp. 935-938.
2. I. Cox, "Blanche - an experiment in guidance and navigation of an autonomous robot vehicle," IEEE Transactions on Robotics and Automation, vol. 7, no. 2, pp. 193-204, 1991.
3. J. Gutmann and K. Konolige, "Incremental mapping of large cyclic environments," in Proceedings of the IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA), Monterey, California, 1999, pp. 318-325. [Online]. Available: citeseer.ist.psu.edu/ gutmann00incremental.html
4. K. Lingermann, H. Surmann, A. Nuchter, and J. Hertzberg, "Indoor and outdoor localization for fast mobile robots," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, October 2004, pp. 2185-2190.
5. X. Zezhong, L. Juin, and X. Zhiyu, "Scan matching based on CLS relationships," in Proceedings of the IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, Chansha, China, October 2003, pp. 99-104.
6. G. Weiss, C. Wetzler, and E. von Puttkamer, "Keeping track of position and orientation of moving indoor systems by correlation of range-finder scans," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Munich, Germany, September 1994, pp. 595-601.
7. T. Röfer, "Using histogram correlation to create consistent laser scan maps," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, October 2002, pp. 625-630.
8. J.-S. Gutmann, T. Weigel, and B. Nebel, "A fast, accurate, and robust method for self-localization in polygonal environments using laserrange-finders," Advanced Robotics, vol. 14, no. 8, pp. 651-668, 2001.
9. M. C. Bosse, "ATLAS: A Framework for Large Scale Automated Mapping and Localization," Ph.D. dissertation, Massachusetts Institute of Technology, Feb 2004.
10. M. Bosse, P. Newman, J. Leonard, M. Soika, W. Feiten, and S. Teller, "An Atlas Framework for scalable mapping," in International Conference on Robotics and Automation, Taipei, Taiwan, September 2003, pp. 1899-1906.
11. M. Bosse, P. Newman, J. Leonard, and S. Teller, "Simultaneous localization and map building in large-scale cyclic environments using the Atlas Framework," International Journal of Robotics Research, vol. 23, no. 12, pp. 1113-1139, December 2004.