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Pregled bibliografske jedinice broj: 474497

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


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: IEEE, 2010. str. 273-278 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


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

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

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
19th International Workshop on Robotics in Alpe-Adria-Danube Region – RAAD 2010 / Anikó Szakál - Budimpešta : IEEE, 2010, 273-278

ISBN
978-1-4244-6884-3

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

Mjesto i datum
Budimpešta, Mađarska, 23-25.06.2010.

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Scan matching; correlation; Hough spectrum

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti



POVEZANOST RADA


Projekt / tema
036-0361621-3012 - Napredne strategije upravljanja i estimacije u složenim sustavima (Nedjeljko Perić, )
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Ivan Petrović, )

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb