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Conference Paper: Mobile robot pose estimation using laser scan matching based on Fourier Transform

TitleMobile robot pose estimation using laser scan matching based on Fourier Transform
Authors
Issue Date2013
Citation
2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, 2013, p. 474-479 How to Cite?
AbstractPose estimation problem is a key problem for a mobile robot system. In this paper, a new pose estimation method for the mobile robot is presented based on 2D (two dimensional) laser range finder. To get the increments between reference scan and current scan, a scan matching algorithm based on 1D Fourier Transform is presented. It is different from other methods. Because of 1D Fourier-transform-based and point-point matching, it is no need to extract features from environment and have high anti-noise and low computational cost. To get the pose of the mobile robot in the world coordinates, a pose estimation model is proposed. Finally, the proposed method is tested on the experimental platform in an indoor environment. The experimental results demonstrated its effectiveness. © 2013 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/213396

 

DC FieldValueLanguage
dc.contributor.authorWang, Xiaoyong-
dc.contributor.authorJia, Yunyi-
dc.contributor.authorXi, Ning-
dc.contributor.authorZhen, Jiuju-
dc.contributor.authorXu, Feng-
dc.date.accessioned2015-07-28T04:07:08Z-
dc.date.available2015-07-28T04:07:08Z-
dc.date.issued2013-
dc.identifier.citation2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, 2013, p. 474-479-
dc.identifier.urihttp://hdl.handle.net/10722/213396-
dc.description.abstractPose estimation problem is a key problem for a mobile robot system. In this paper, a new pose estimation method for the mobile robot is presented based on 2D (two dimensional) laser range finder. To get the increments between reference scan and current scan, a scan matching algorithm based on 1D Fourier Transform is presented. It is different from other methods. Because of 1D Fourier-transform-based and point-point matching, it is no need to extract features from environment and have high anti-noise and low computational cost. To get the pose of the mobile robot in the world coordinates, a pose estimation model is proposed. Finally, the proposed method is tested on the experimental platform in an indoor environment. The experimental results demonstrated its effectiveness. © 2013 IEEE.-
dc.languageeng-
dc.relation.ispartof2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013-
dc.titleMobile robot pose estimation using laser scan matching based on Fourier Transform-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ROBIO.2013.6739504-
dc.identifier.scopuseid_2-s2.0-84898790543-
dc.identifier.spage474-
dc.identifier.epage479-

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