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Robot localization based on scan-matching - estimating the covariance matrix for the IDC algorithm
Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE), Halmstad Embedded and Intelligent Systems Research (EIS).
Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE), Halmstad Embedded and Intelligent Systems Research (EIS).
2003 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 44, no 1, p. 29-40Article in journal (Refereed) Published
Abstract [en]

We have previously presented a new scan-matching algorithm based on the IDC (iterative dual correspondence) algorithm, which showed a good localization performance even in environments with severe changes. The problem of the IDC algorithm is that there is no good way to estimate a covariance matrix of the position estimate, which prohibits an effective fusion with other position estimates of other sensors. This paper presents two new ways to estimate the covariance matrix. The first estimates the covariance matrix from the Hessian matrix of the error function minimized by the scan-matching algorithm. The second one, which is an off-line method, estimates the covariance matrix of a specific scan, from a specific position by simulating and matching scans around the position. Simulation results show that the covariance matrix provided by the off-line method fully corresponds with the real one. Some preliminary tests on real data indicate that the off-line method gives a good quality value of a specific scan position, which is of great value in map building.

Place, publisher, year, edition, pages
Amsterdam: Elsevier, 2003. Vol. 44, no 1, p. 29-40
Keywords [en]
Mobile robots, Self-localization, Scan-matching, Covariance matrix
National Category
Computer Engineering
Identifiers
URN: urn:nbn:se:hh:diva-215DOI: 10.1016/S0921-8890(03)00008-3ISI: 000184108100004Scopus ID: 2-s2.0-0038006770Local ID: 2082/510OAI: oai:DiVA.org:hh-215DiVA, id: diva2:237393
Available from: 2006-11-24 Created: 2006-11-24 Last updated: 2018-01-13Bibliographically approved

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf