Laser scan matching using multiplex histograms with feature components

Authors:
Quan Qiu;Jianda Han
Affiliations:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China and Graduate University of Chinese Academy of Sciences, Beijing, China;State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
Venue:
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Year:
2009

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Abstract

A new laser scan matching algorithm is proposed in this paper. By constructing multiplex histograms, the new algorithm offers a simple way for importing geometrical features into the histogram method, obtaining more geometrical information from the laser scan data, and carrying out more accurate matching results. Also, an optimal maximum selection mechanism is employed to filter out the incorrect matching results, which further guarantees the matching precision. With the satisfactory matching results, the new algorithm shows a promising application prospect to the self-localization of robots. Experiments are performed to prove the feasibility and accuracy of the new algorithm.