Pregled bibliografske jedinice broj: 474497
Mobile robot pose tracking by correlation of laser range finder scans in Hough domain
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 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 474497 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
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 : Institute of Electrical and Electronics Engineers (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, 23.06.2010. - 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
Projekti:
036-0361621-3012 - Napredne strategije upravljanja i estimacije u složenim sustavima (Perić, Nedjeljko, MZO ) ( CroRIS)
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Petrović, Ivan, MZO ) ( CroRIS)
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
