Access the full text.
Sign up today, get DeepDyve free for 14 days.
Loading next page...
/lp/springer-journals/globally-consistent-range-scan-alignment-for-environment-mapping-EfvmI0NeFn
References (21)
-
P. Moutarlier, R. Chatila (1989)
Stochastic multisensory data fusion for mobile robot location and environment modeling -
N. Ayache, O. Faugeras (1988)
Maintaining representations of the environment of a mobile robot -
H. Durrant-Whyte (1987)
Uncertain geometry in roboticsProceedings. 1987 IEEE International Conference on Robotics and Automation, 4
-
J. Leonard, H. Durrant-Whyte, I. Cox (1990)
Dynamic Map Building for an Autonomous Mobile RobotThe International Journal of Robotics Research, 11
-
Y. Tang, C. Lee (1990)
A geometric feature relation graph formulation for consistent sensor fusion1990 IEEE International Conference on Systems, Man, and Cybernetics Conference Proceedings
-
Randall Smith, P. Cheeseman (1986)
On the Representation and Estimation of Spatial UncertaintyThe International Journal of Robotics Research, 5
-
D. Kriegman, E. Triendl, T. Binford (1989)
Stereo vision and navigation in buildings for mobile robotsIEEE Trans. Robotics Autom., 5
-
Feng Lu, E. Milios (1994)
Robot Pose Estimation in Unknown Environments by Matching 2D Range ScansJournal of Intelligent and Robotic Systems, 18
-
H.F. Durrant-Whyte (1988)
Uncertain geometry in roboticsIEEE Journal of Robotics and Automation, 4
-
H. Durrant-Whyte (1987)
Integration, coordination, and control of multi-sensor robot systems -
R. Chatila, J. Laumond (1985)
Position referencing and consistent world modeling for mobile robotsProceedings. 1985 IEEE International Conference on Robotics and Automation, 2
-
Jens-Steffen Gutmann, Christian Schlegel (1996)
AMOS: comparison of scan matching approaches for self-localization in indoor environmentsProceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT '96)
-
(1997)
KCUP1: KCU/JHR P2: KCU Autonomous Robots KL490-02 -
I. Cox (1991)
Blanche-an experiment in guidance and navigation of an autonomous robot vehicleIEEE Trans. Robotics Autom., 7
-
J. Crowley (1989)
World modeling and position estimation for a mobile robot using ultrasonic rangingProceedings, 1989 International Conference on Robotics and Automation
-
(1985)
Globally Consistent Range Scan Alignment -
Feng Lu (1996)
Shape registration using optimization for mobile robot navigation -
H. Durrant-Whyte (1986)
Consistent Integration and Propagation of Disparate Sensor ObservationsThe International Journal of Robotics Research, 6
-
Javier González, A. Ollero, A. Reina (1994)
Map building for a mobile robot equipped with a 2D laser rangefinderProceedings of the 1994 IEEE International Conference on Robotics and Automation
-
Y.C. Tang, C.S.G. Lee (1992)
A geometric feature relation graph formulation for consistent sensor fusionIEEE Transactions on System, Man, and Cybernetics, 22
-
15] SICK Laser range scanner
- Publisher
- Springer Journals
- Copyright
- Copyright © 1997 by Kluwer Academic Publishers
- Subject
- Engineering; Robotics and Automation; Artificial Intelligence (incl. Robotics); Computer Imaging, Vision, Pattern Recognition and Graphics; Control, Robotics, Mechatronics
- ISSN
- 0929-5593
- eISSN
- 1573-7527
- DOI
- 10.1023/A:1008854305733
- Publisher site
- See Article on Publisher Site
Abstract
A robot exploring an unknown environment may need to build a worldmodel from sensor measurements. In order to integrate all the framesof sensor data, it is essential to align the data properly. Anincremental approach has been typically used in the past, in whicheach local frame of data is aligned to a cumulative global model, andthen merged to the model. Because different parts of the model areupdated independently while there are errors in the registration,such an approach may result in an inconsistent model.
Journal
Autonomous Robots – Springer Journals
Published: Sep 19, 2004