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http://dx.doi.org/10.5302/J.ICROS.2014.14.8022

2D Grid Map Compensation using an ICP Algorithm  

Lee, Dong-Ju (Department of Electrical Engineering, Pusan National University)
Hwang, Yu-Seop (Department of Electrical Engineering, Pusan National University)
Yun, Yeol-Min (Department of Electrical Engineering, Pusan National University)
Lee, Jang-Myung (Department of Electrical Engineering, Pusan National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.11, 2014 , pp. 1170-1174 More about this Journal
Abstract
This paper suggests using the ICP (Iterative Closet Point) algorithm to compensate a two-dimensional map. ICP algorithm is a typical algorithm method using matching distance data. When building a two-dimensional map, using data through the value of a laser scanner, it occurred warping and distortion of a two-dimensional map because of the difference of distance from the value of the sensor. It uses the ICP algorithm in order to reduce any error of line. It validated the proposed method through experiment involving matching a two-dimensional map based reference data and measured the two-dimensional map.
Keywords
ICP (Iterative Closet Point) algorithm; map building; mobile robot; laser scanner;
Citations & Related Records
Times Cited By KSCI : 5  (Citation Analysis)
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