TY - GEN
T1 - A novel fusion method for robot indoor environment mapping
AU - Huo, Guanglei
AU - Li, Ruifeng
AU - Zhao, Lijun
AU - Wang, Ke
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/4/20
Y1 - 2014/4/20
N2 - In order to solve the stability of mapping of mobile robot, a fusion method based on Kalman Filter is proposed to reduce the accumulative errors during the mobile motion. This fusion method, which can fuse the sequential scan matching results and odometer measures, is suitable for raw points based scan matching method. In this paper, pose estimation results from raw points based scan matching method are viewed as the observation model, and odometer measures are viewed as the status model. Experimental results are shown to validate the effectiveness of the proposed approach.
AB - In order to solve the stability of mapping of mobile robot, a fusion method based on Kalman Filter is proposed to reduce the accumulative errors during the mobile motion. This fusion method, which can fuse the sequential scan matching results and odometer measures, is suitable for raw points based scan matching method. In this paper, pose estimation results from raw points based scan matching method are viewed as the observation model, and odometer measures are viewed as the status model. Experimental results are shown to validate the effectiveness of the proposed approach.
UR - https://www.scopus.com/pages/publications/84949926535
U2 - 10.1109/ROBIO.2014.7090717
DO - 10.1109/ROBIO.2014.7090717
M3 - 会议稿件
AN - SCOPUS:84949926535
T3 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
SP - 2507
EP - 2510
BT - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Y2 - 5 December 2014 through 10 December 2014
ER -