Optimal mobile robot pose estimation using geometrical maps

被引：17
|
作者：
Borges, GA [1 ]
Aldon, MJ [1 ]
机构：
[1] Lab Informat Robot & Microelect Montpellier, UMR CNRS UM2, Robot Dept, F-55060 Montpellier, France
来源：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2002年 / 18卷 / 01期
关键词：
heterogeneous features; nonlinear optimization; optimal 2-D pose estimation; weighted least-squares;
D O I：
10.1109/70.988978
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We propose a weighted least-squares (WLS) algorithm for optimal pose estimation of mobile robots using geometrical maps as environment models. Pose estimation is achieved from feature correspondences in a nonlinear framework without linearization. The proposed WLS approach fields optimal estimates in the least-squares sense, is applicable to heterogencous geometrical features decomposed in points and lines, and has an O(N) computation time.
引用
收藏
页码：87 / 94
页数：8
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