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http://dx.doi.org/10.13067/JKIECS.2013.8.4.575

Map Building Using ICP Algorithm based a Robot Position Prediction  

Noh, Sung-Woo (조선대학교 정보통신공학과)
Kim, Tae-Gyun (조선대학교 제어계측공학과)
Ko, Nak-Yong (조선대학교 제어계측로봇공학과)
Publication Information
The Journal of the Korea institute of electronic communication sciences / v.8, no.4, 2013 , pp. 575-582 More about this Journal
Abstract
This paper proposes a map building using the ICP algorithm based robot localization prediction. Proposed method predicts a robot location to dead reckoning, makes a map in the ICP algorithm. Existing method makes a map building and robot position using a sensor value of reference data and current data. In this case, a large interval of the difference of the reference data and the current data is difficult to compensate. The proposed method can map correction through practical experiments.
Keywords
ICP(Iterative Closest Point); Map building; Scan matching; Dead reckoning; Mobile robot;
Citations & Related Records
Times Cited By KSCI : 5  (Citation Analysis)
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