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Mobile robot pose tracking by correlation of laser range finder scans in Hough domain (CROSBI ID 564319)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

Graovac, Davor ; Jurić-Kavelj, Srećko ; Petrović, Ivan Mobile robot pose tracking by correlation of laser range finder scans in Hough domain // 19th International Workshop on Robotics in Alpe-Adria-Danube Region – RAAD 2010 / Anikó Szakál (ur.). Budimpešta: Institute of Electrical and Electronics Engineers (IEEE), 2010. str. 273-278

Podaci o odgovornosti

Graovac, Davor ; Jurić-Kavelj, Srećko ; Petrović, Ivan

engleski

Mobile robot pose tracking by correlation of laser range finder scans in Hough domain

This paper proposes a correlation scan matching method based on matching consecutive readings of laser range finder. The method uses the Hough transform and the Hough spectrum for determining the relative rotation. By calculating also translation in the Hough domain, the method can also be successfully used in non-perpendicular environments. This paper also looks at validity of utilizing the probabilistic Hough transform with regard to the complexity and the accuracy of the algorithm. Proposed scan matching methods are used for mobile robot pose tracking. Developed algorithms are validated by simulation and experimental tests.

scan matching; correlation; Hough spectrum

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Podaci o prilogu

273-278.

2010.

objavljeno

Podaci o matičnoj publikaciji

19th International Workshop on Robotics in Alpe-Adria-Danube Region – RAAD 2010

Anikó Szakál

Budimpešta: Institute of Electrical and Electronics Engineers (IEEE)

978-1-4244-6884-3

Podaci o skupu

19th IEEE International Workshop on Robotics in Alpe-Adria-Danube Region

predavanje

23.06.2010-25.06.2010

Budimpešta, Mađarska

Povezanost rada

Elektrotehnika, Računarstvo, Temeljne tehničke znanosti