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
Sequential Operations in Digital Picture Processing
Journal of the ACM (JACM)
An algorithm for planning collision-free paths among polyhedral obstacles
Communications of the ACM
Directed Sonar Sensing for Mobile Robot Navigation
Directed Sonar Sensing for Mobile Robot Navigation
Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans
Journal of Intelligent and Robotic Systems
The Trimmed Iterative Closest Point Algorithm
ICPR '02 Proceedings of the 16 th International Conference on Pattern Recognition (ICPR'02) Volume 3 - Volume 3
Problem-Solving Methods in Artificial Intelligence
Problem-Solving Methods in Artificial Intelligence
Terrain-Aware Path Guided Mobile Robot Teleoperation in Virtual and Real Space
ACHI '10 Proceedings of the 2010 Third International Conference on Advances in Computer-Human Interactions
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This paper concerns the navigation of a physical robot in real natural environments which have been previously scanned in considerable (3D and colour image) detail so as to permit virtual exploration by cybernavigation prior to mission replication in the real world. An on-board high speed 3D laser scanner is used to localise the robot (determine its position and orientation) in its working environment by applying scan matching against the model data previously collected.