Name
Abstract | ||
|---|---|---|
This paper describes a novel, laser-based ap- proach for tracking the pose of a high-speed mobile robot. The algorithm is outstanding in terms of accuracy and computational time, being 33 times faster than real time. The efficiency is achieved by a closed form solution for the matching of two laser scans, the use of natural landmarks and fast linear filters. The implemented algorithm is evaluated with the high-speed robot Kurt3D (4 m/s), and compared to standard scan matching methods in indoor and outdoor environments. I. INTRODUCTION |
Year | DOI | Venue |
|---|---|---|
2004 | 10.1109/IROS.2004.1389733 | IROS |
Keywords | Field | DocType |
mobile robots,optical scanners,optical tracking,path planning,position control,Kurt3D,indoor localization,laser tracking,lasers scan,linear filter,mobile robot,natural landmark,outdoor localization | Motion planning,Optical scanners,Computer vision,Linear filter,Computer science,Closed-form expression,Control engineering,Optical tracking,Artificial intelligence,Robot,Mobile robot | Conference |
Volume | Citations | PageRank |
3 | 22 | 1.70 |
References | Authors | |
9 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kai Lingemann | 1 | 555 | 35.98 |
| Hartmut Surmann | 2 | 699 | 50.40 |
| Andreas N ¨ | 3 | 22 | 1.70 |
| Joachim Hertzberg | 4 | 1571 | 142.29 |