Dealing with sensor errors in scan matching for simultaneous localization and mapping

Title:

Dealing with sensor errors in scan matching for simultaneous localization and mapping

Creator:

Krejsa, Jiří and Věchet, Stanislav

Identifier:

https://cdk.lib.cas.cz/client/handle/uuid:4fa4fd1d-8e03-4421-8293-1c18814ff926
uuid:4fa4fd1d-8e03-4421-8293-1c18814ff926

Subject:

localization, mobile robotics, and SLAM

Type:

model:article and TEXT

Format:

bez média and svazek

Description:

The paper presents Potential-Based Scan Matching (PSCM) method used for simultaneous localization and mapping of mobile robot in unknown environment. The method is based on matching two proximity sensor scans from different robot locations. The resistance of the method against errors in sensor readings is investigated using both general sensor error model and error model for LMS 200 laser scanner. The method proved to be highly resistent for the noise levels exceeding the commonly used instruments.

Language:

English

Rights:

http://creativecommons.org/licenses/by-nc-sa/4.0/
policy:public

Coverage:

337-344

Source:

Engineering mechanics: international journal for theoretical and applied mechanics | 2008 Volume:15 | Number:5

Harvested from:

CDK

Metadata only:

false