Two-dimensional, model-based, boundary matching using footprints
International Journal of Robotics Research
Numerical methods and software
Numerical methods and software
Blanche: position estimation for an autonomous robot vehicle
Autonomous robot vehicles
Qualitative navigation for mobile robots
Artificial Intelligence
Object recognition by computer: the role of geometric constraints
Object recognition by computer: the role of geometric constraints
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
Object modelling by registration of multiple range images
Image and Vision Computing - Special issue: range image understanding
Robust incremental optical flow
Robust incremental optical flow
CVGIP: Image Understanding
Shape registration using optimization for mobile robot navigation
Shape registration using optimization for mobile robot navigation
Robot Motion Planning
Autonomous Mobile Robots
Registering Multiview Range Data to Create 3D Computer Objects
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multi-robot collaboration for robust exploration
Annals of Mathematics and Artificial Intelligence
Globally Consistent Range Scan Alignment for Environment Mapping
Autonomous Robots
Fast, On-Line Learning of Globally Consistent Maps
Autonomous Robots
Journal of Intelligent and Robotic Systems
Journal of Intelligent and Robotic Systems
Integration of Metric Place Relations in a Landmark Graph
ICANN '02 Proceedings of the International Conference on Artificial Neural Networks
Fast, Accurate, and Robust Self-Localization in the RoboCup Environment
RoboCup-99: Robot Soccer World Cup III
ICAPR '01 Proceedings of the Second International Conference on Advances in Pattern Recognition
Interpretation of Ultrasonic Readings for Autonomous Robot Localization
Journal of Intelligent and Robotic Systems
An Automated Method for Large-Scale, Ground-Based City Model Acquisition
International Journal of Computer Vision
Robust Local Localization of a Mobile Robot Using a 2-D Laser Range Finder
ENC '05 Proceedings of the Sixth Mexican International Conference on Computer Science
Robotics and Autonomous Systems
Including probabilistic target detection attributes into map representations
Robotics and Autonomous Systems
Real-time hierarchical POMDPs for autonomous robot navigation
Robotics and Autonomous Systems
Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
International Journal of Robotics Research
Detecting Loop Closure with Scene Sequences
International Journal of Computer Vision
Simultaneous Localization, Mapping and Moving Object Tracking
International Journal of Robotics Research
Metric embedding of view-graphs
Autonomous Robots
Fast Laser Scan Matching using Polar Coordinates
International Journal of Robotics Research
Laser-based people-following for human-augmented mapping of indoor environments
AIAP'07 Proceedings of the 25th conference on Proceedings of the 25th IASTED International Multi-Conference: artificial intelligence and applications
Map building through pseudo dense scan matching using visual sonar data
Autonomous Robots
Grid-Based Visual SLAM in Complex Environments
Journal of Intelligent and Robotic Systems
Journal of Intelligent and Robotic Systems
Robots in the kitchen: Exploiting ubiquitous sensing and actuation
Robotics and Autonomous Systems
Modeling dynamic scenarios for local sensor-based motion planning
Autonomous Robots
A Comparative Analysis of Particle Filter Based Localization Methods
RoboCup 2006: Robot Soccer World Cup X
A Scalable Hybrid Multi-robot SLAM Method for Highly Detailed Maps
RoboCup 2007: Robot Soccer World Cup XI
A Robust Pose Estimation Algorithm for Mobile Robot Based on Clusters
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
A Robust Iterative Closest Point Algorithm with Augmented Features
MICAI '08 Proceedings of the 7th Mexican International Conference on Artificial Intelligence: Advances in Artificial Intelligence
Robotic Mapping Using Measurement Likelihood Filtering
International Journal of Robotics Research
Differential evolution solution to the SLAM problem
Robotics and Autonomous Systems
Stereo vision specific models for particle filter-based SLAM
Robotics and Autonomous Systems
Acquiring a Physical World and Serving Its Mirror World Simultaneously
VMR '09 Proceedings of the 3rd International Conference on Virtual and Mixed Reality: Held as Part of HCI International 2009
A Robot Localization Method Based on Laser Scan Matching
Proceedings of the FIRA RoboWorld Congress 2009 on Advances in Robotics
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 3
Vision-based global localization for mobile robots with hybrid maps of objects and spatial layouts
Information Sciences: an International Journal
Development of inspection robot for under floor of house
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Image augmented laser scan matching for indoor dead reckoning
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Trajectory-oriented EKF-SLAM using the fourier-mellin transform applied to microwave radar images
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A 3D pose estimator for the visually impaired
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Automation of industrial vehicles: a vision-based line tracking application
ETFA'09 Proceedings of the 14th IEEE international conference on Emerging technologies & factory automation
An information-based exploration strategy for environment mapping with mobile robots
Robotics and Autonomous Systems
Clustering and line detection in laser range measurements
Robotics and Autonomous Systems
Generalization and transfer learning in noise-affected robot navigation tasks
EPIA'07 Proceedings of the aritficial intelligence 13th Portuguese conference on Progress in artificial intelligence
Stereo vision local map alignment for robot environment mapping
RobVis'08 Proceedings of the 2nd international conference on Robot vision
Laser scan matching using multiplex histograms with feature components
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Laser Scanner-based End-effector Tracking and Joint Variable Extraction for Heavy Machinery
International Journal of Robotics Research
An intelligent localization algorithm using read time of RFID system
Advanced Engineering Informatics
Experimental investigation of a prediction algorithm for an indoor SLAM platform
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part II
Three-dimensional iterative closest point-based outdoor SLAM using terrain classification
Intelligent Service Robotics
Incremental feature-based mapping from sonar data using Gaussian mixture models
Proceedings of the 2011 ACM Symposium on Applied Computing
Integrated PSO and line based representation approach for SLAM
Proceedings of the 2011 ACM Symposium on Applied Computing
Range based cybernavigation in natural known environments
Transactions on computational science XII
Mapping for the Support of First Responders in Critical Domains
Journal of Intelligent and Robotic Systems
Inferring laser-scan matching uncertainty with conditional random fields
Robotics and Autonomous Systems
Improving odometry using a controlled point laser
Autonomous Robots
DGCI'05 Proceedings of the 12th international conference on Discrete Geometry for Computer Imagery
Journal of Intelligent and Robotic Systems
Robust and accurate genetic scan matching algorithm for robotic navigation
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part I
Laser and Radar Based Robotic Perception
Foundations and Trends in Robotics
Robotics and Autonomous Systems
Real time egomotion of a nonholonomic vehicle using LIDAR measurements
Journal of Field Robotics
SIMPAR'12 Proceedings of the Third international conference on Simulation, Modeling, and Programming for Autonomous Robots
Cascaded Evolutionary Estimator for Robot Localization
International Journal of Applied Evolutionary Computation
A novel efficient algorithm for mobile robot localization
Robotics and Autonomous Systems
Probabilistic terrain classification in unstructured environments
Robotics and Autonomous Systems
Journal of Intelligent and Robotic Systems
Simplified map representation and map learning system for autonomous navigation of mobile robots
Intelligent Service Robotics
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A mobile robot exploring an unknown environment has no absolute frame of reference for its position, other than features it detects through its sensors. Using distinguishable landmarks is one possible approach, but it requires solving the object recognition problem. In particular, when the robot uses two-dimensional laser range scans for localization, it is difficult to accurately detect and localize landmarks in the environment (such as corners and occlusions) from the range scans.In this paper, we develop two new iterative algorithms to register a range scan to a previous scan so as to compute relative robot positions in an unknown environment, that avoid the above problems. The first algorithm is based on matching data points with tangent directions in two scans and minimizing a distance function in order to solve the displacement between the scans. The second algorithm establishes correspondences between points in the two scans and then solves the point-to-point least-squares problem to compute the relative pose of the two scans. Our methods work in curved environments and can handle partial occlusions by rejecting outliers.