A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Using local planar geometric invariants to match and model images of line segments
Computer Vision and Image Understanding
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Line Extraction in 2D Range Images for Mobile Robotics
Journal of Intelligent and Robotic Systems
DGCI'05 Proceedings of the 12th international conference on Discrete Geometry for Computer Imagery
Planning for multi-robot localization
SBIA'10 Proceedings of the 20th Brazilian conference on Advances in artificial intelligence
Hi-index | 0.00 |
This paper deals with the problem of finding the movement of a mobile robot given two consecutive laser scans. The proposed method extracts a line map from the sequence of points in each laser scan, using a probabilistic approach, and then computes virtual corners between two lines in the same line map. The movement of the robot is estimated from correspondences of virtual corners between the two line maps. The combination of the probabilistic approach to find lines and the reduced number of virtual corners are the key ideas to get a simple, fast, robust to outliers, and reliable method to solve the local localization problem.