Diciembre 21, 2015

Consistent robot localization using Polar Scan Matching based on Kalman Segmentation

Robotics and Autonomous Systems: Volume 63, Part 2, January 2015, Pages 219–225 Autores (p.o. de firma): José Manuel Cuadra, José Ramón Álvarez, Israel Navarro, Félix de la Paz, Raúl Arnau Abstract: This work presents a revision of polar scan-matching procedure (PSM) in order to obtain an accurate robot localization in long runs without applying any other later procedure. In order to obtain an accurate robot pose estimation in long runs, PSM uses some SLAM procedure to correct error introduced by the scan-matching procedure. PSM compares scan points obtained from different positions, we have observed that if it associates points belonging to... Read More