DOI QR코드

DOI QR Code

신뢰성 높은 위치 인식을 위하여 방향을 고려한 확률적 스캔 매칭 기법

Direction Augmented Probabilistic Scan Matching for Reliable Localization

  • 최민용 (포항공과대학교 기계공학과) ;
  • 최진우 (포항공과대학교 기계공학과) ;
  • 정완균 (포항공과대학교 기계공학과)
  • 투고 : 2011.09.16
  • 심사 : 2011.10.24
  • 발행 : 2011.12.01

초록

The scan matching is widely used in localization and mapping of mobile robots. This paper presents a probabilistic scan matching method. To improve the performance of the scan matching, a direction of data point is incorporated into the scan matching. The direction of data point is calculated using the line fitted by the neighborhood data. Owing to the incorporation, the performance of the matching was improved. The number of iterations in the scan matching decreased, and the tolerance against a high rotation between scans increased. Based on real data of a laser range finder, experiments verified the performance of the proposed direction augmented probabilistic scan matching algorithm.

키워드

참고문헌

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