Comparison and analysis of scan matching techniques for Cooperative-SLAM

URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence

Volumn , Issue , 2011, Pages 165-168

  Lee, Heon Cheol ^a   Lee, Seung Hee ^a   Lee, Seung Hwan ^a   Lee, Tae Seok ^a   Kim, Doo Jin ^a   Park, Kyung Sik ^a   Lee, Kong Woo ^a   Lee, Beom Hee ^a  

^a Seoul National University   (South Korea)

Author keywords

Cooperative SLAM; HSM; ICP; PSM; Scan matching technique

Indexed keywords

COOPERATIVE-SLAM; HSM; ICP; PSM; SCAN-MATCHING TECHNIQUE;

ARTIFICIAL INTELLIGENCE;

EID: 84863176343     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/URAI.2011.6145953     Document Type: Conference Paper

References (9)

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2. A. Howard, "Multi-robot Simultaneous Localization and Mapping using Particle Filters," The International Journal of Robotics Research, Vol. 25, No. 12, pp. 1243-1256, Dec. 2006.
3. P. J. Besl and N. D. McKay, "A Method for Registration of 3-D Shapes," IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 14, No. 2, pp. 239-256, Feb. 1992.
4. A. Censi, L. Iocchi, and G. Grisetti, "Scan Matching in the Hough Domain," in Proceedings of the IEEE International Conference on Robotics and Automation, Barcelona, Spain, Apr. 2005.
5. A. Diosi and L. Kleeman, "Fast Laser Scan Matching using Polar Coordinates," The International Journal of Robotics Research, Vol. 26, No. 10, pp. 1125-1153, Oct. 2007.
6. F. Lu and E. Milios, "Robot Pose Estimation in Unknown Environment by Matching 2D Range Scans," Journal of Intelligent and Robotic Systems, 18 pp249-275, 1994
7. H.C. Lee and B.H. Lee, "Improved Feature Map Merging using Virtual Supporting Lines for Multi-Robot Systems," Advanced Robotics, vol. 25, no. 13-14, pp. 1675-1696, 2011.
8. H. C. Lee, S. H. Lee, M. H. Choi, and B. H. Lee, "Probabilistic Map Merging for Multi-Robot RBPF-SLAM with Unknown Initial Poses," ROBOTICA, 2011 (accepted).
9. I. K. Kim, N. Kwak, H. C. Lee and B. H. Lee, "Improved Particle Filter using Geometric Relation between Particles in FastSLAM," ROBOTICA, vol.27, no.6, pp.853-859, 959, Oct. 2009.