Name
Abstract | ||
|---|---|---|
This paper describes a novel, laser-based approach for tracking the pose of a high-speed mobile robot. The algorithm is outstanding in terms of accuracy and computation time. The efficiency is achieved by a closed-form solution for the matching of two laser scans, the use of natural scan features 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. |
Year | DOI | Venue |
|---|---|---|
2005 | 10.1016/j.robot.2005.02.004 | Robotics and Autonomous Systems |
Keywords | Field | DocType |
Localization,Pose tracking,Autonomous mobile robots,Scan matching,High-speed robotics | Computer vision,Linear filter,Pose tracking,Computer science,Simulation,Laser,Artificial intelligence,Robot,Mobile robot,Computation | Journal |
Volume | Issue | ISSN |
51 | 4 | 0921-8890 |
Citations | PageRank | References |
56 | 2.64 | 15 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kai Lingemann | 1 | 555 | 35.98 |
| Andreas Nüchter | 2 | 1341 | 90.03 |
| Joachim Hertzberg | 3 | 1571 | 142.29 |
| Hartmut Surmann | 4 | 699 | 50.40 |