Improved Polar Scan-Matching Using an Advanced Line Segmentation Algorithm

  • Israel Navarro Santosjuanes
  • José Manuel Cuadra-Troncoso
  • Félix de la Paz López
  • Raúl Arnau Prieto
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7931)

Abstract

This work presents an enhanced polar scan-matching procedure (E-PSM) that obtains its inputs from the application of an advanced line segmentation algorithm to the laser range returns. Additionally, a set of alternative methods based on local and global optimization algorithms is introduced. Results from robot simulation tests are provided for different ranges of laser range return noise and odometry sensor error levels. The results show that the proposed E-PSM algorithm and one of the methods based on global optimization yield good robot pose estimation precision while keeping computational costs at a reasonable level.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Israel Navarro Santosjuanes
    • 1
  • José Manuel Cuadra-Troncoso
    • 1
  • Félix de la Paz López
    • 1
  • Raúl Arnau Prieto
    • 1
  1. 1.Dpto. de Inteligencia ArtificialUNEDMadridSpain

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