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Natural feature based localization in forested environments
Nankai University, Tianjin, China.
Nankai University, Tianjin, China.
MIT.
2012 (English)In: Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, Piscataway, N.J.: IEEE Press, 2012, p. 3384-3390Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents a new feature based scan matching method for solving 6D localization problem in forested environments. The proposed registration process includes two steps. First, the largest group of approximately parallel tree trunk features is utilized to align successive scans along the five dimensions except z direction. Tree correspondences are established by matching point patterns which are abstracted from the position relationships of trees. The optimal 5D transformation is thus determined based on the axes of two key tree pairs which are selected by evaluating their ability of tree alignment. Second, we assign the ground points of two scans into a grid of cells, and minimize z-direction difference of points in shared cells. The experimental results on data collected in real forested environments have demonstrated the effectiveness of this method. © 2012 IEEE.

Place, publisher, year, edition, pages
Piscataway, N.J.: IEEE Press, 2012. p. 3384-3390
Series
IEEE International Conference on Intelligent Robots and Systems. Proceedings, ISSN 2153-0858
Keywords [en]
Accuracy, Feature extraction, Manganese, Pattern matching, Robot kinematics, Vegetation
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20832DOI: 10.1109/IROS.2012.6385542Scopus ID: 2-s2.0-84872351059ISBN: 978-146731737-5 OAI: oai:DiVA.org:hh-20832DiVA, id: diva2:586701
Conference
25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, Vilamoura, Algarve, Portugal, 7-12 October, 2012
Available from: 2013-01-12 Created: 2013-01-12 Last updated: 2018-03-22Bibliographically approved

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Iagnemma, Karl

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CiteExportLink to record
Permanent link

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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