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Localization in changing environments by matching laser range scans
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS).
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS).
1999 (English)In: 1999 Third European Workshop on Advanced Mobile Robots (Eurobot'99).: Proceedings, Institute of Electrical and Electronics Engineers (IEEE), 1999, p. 169-176Conference paper, Published paper (Refereed)
Abstract [en]

We present a novel scan matching algorithm, IDC-S, Iterative Dual Correspondence-Sector, that matches range scans. The algorithm is based on the known Iterative Dual Correspondence, IDC, algorithm which has shown good performance in real environments. The improvement is that IDC-S is able to deal with relatively large changes in the environment. It divides the scan in several sectors, detects and removes those sectors that are changed and matches the scans only using unchanged sectors. IDC-S and other variants of IDC are extensively simulated and evaluated. The simulations show that IDC-S is very robust and can locate in many different kind of environments. We also show that it is possible to effectively combine the existing IDC algorithms with IDC-S, thus obtaining an algorithm that performs very well both in rectilinear as well as nonrectilinear environments, even when changed as much as 65%. © 1999 IEEE.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 1999. p. 169-176
Keywords [en]
Changing environment, Laser range scan, Range scans, Real environments, Scan matching, Iterative methods
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:hh:diva-40873DOI: 10.1109/EURBOT.1999.827637Scopus ID: 2-s2.0-84991021808ISBN: 0-7803-5672-1 (print)OAI: oai:DiVA.org:hh-40873DiVA, id: diva2:1369223
Conference
Third European Workshop on Advanced Mobile Robots 1999 (Eurobot'99), Zürich, Switzerland, September 6-8, 1999
Available from: 2019-11-11 Created: 2019-11-11 Last updated: 2020-01-24Bibliographically approved

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Bengtsson, OlaBaerveldt, Albert-Jan

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CiteExportLink to record
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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
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More languages
Output format
  • html
  • text
  • asciidoc
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