Keypoints Based Laser Scan Matching - A Robust Approach

被引：0

作者：

Ray, R. ^{[1
]}

Banerji, D. ^{[1
]}

Nandy, S. ^{[1
]}

Shome, S. N. ^{[1
]}

机构：

[1] CSIR Cent Mech Engn Res Inst, Robot & Automat Grp, Durgapur 713209, India

来源：

2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012) | 2012年

关键词：

GRIDS;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper aims at development of a robust keypoints based scan matching (KSM) methodology for 2D laser data applied to mobile robot navigation. In this method feature points are first transformed to grid points, and then represented in the form of image. Keypoints are extracted using Harris corner detection method and finally matching is done by RANSAC method. Real world experiments have been carried out to evaluate the utility and robustness of the proposed method. A comparison has been drawn with scan matching technique with ICP method. The proposed method might be used in a robust manner for mobile robot navigation with moderate computational complexity.

引用

页数：6

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