Table of Contents Author Guidelines Submit a Manuscript
Discrete Dynamics in Nature and Society
Volume 2016 (2016), Article ID 2028414, 20 pages
http://dx.doi.org/10.1155/2016/2028414
Research Article

Polar Metric-Weighted Norm-Based Scan Matching for Robot Pose Estimation

1State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
2School of Software Engineering, Beijing University of Technology, Beijing 100871, China

Received 17 November 2015; Accepted 6 January 2016

Academic Editor: Daniele Fournier-Prunaret

Copyright © 2016 Guanglei Huo et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. A. Mallios, P. Ridao, D. Ribas, and E. Hernández, “Scan matching SLAM in underwater environments,” Autonomous Robots, vol. 36, no. 3, pp. 181–198, 2014. View at Publisher · View at Google Scholar · View at Scopus
  2. A. Burguera, Y. González, and G. Oliver, “On the use of likelihood fields to perform sonar scan matching localization,” Autonomous Robots, vol. 26, no. 4, pp. 203–222, 2009. View at Publisher · View at Google Scholar · View at Scopus
  3. D. Borrmann, J. Elseberg, K. Lingemann, A. Nüchter, and J. Hertzberg, “Globally consistent 3D mapping with scan matching,” Robotics and Autonomous Systems, vol. 56, no. 2, pp. 130–142, 2008. View at Publisher · View at Google Scholar · View at Scopus
  4. T. Bardouille, S. V. Krishnamurthy, S. Ghosh Hajra, and R. C. N. Darcy, “Improved localization accuracy in magnetic source imaging using a 3-D laser scanner,” IEEE Transactions on Biomedical Engineering, vol. 59, no. 12, pp. 3491–3497, 2012. View at Publisher · View at Google Scholar · View at Scopus
  5. E. Tsardoulias and L. Petrou, “Critical rays scan match SLAM,” Journal of Intelligent and Robotic Systems, vol. 72, no. 3-4, pp. 441–462, 2013. View at Publisher · View at Google Scholar · View at Scopus
  6. J. Gonzalez and R. Gutierrez, “Mobile robot motion estimation from a range scan sequence,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '97), vol. 2, pp. 1034–1039, Albuquerque, NM, USA, April 1997. View at Scopus
  7. Y.-H. Choi, T.-K. Lee, and S.-Y. Oh, “A line feature based SLAM with low grade range sensors using geometric constraints and active exploration for mobile robot,” Autonomous Robots, vol. 24, no. 1, pp. 13–27, 2008. View at Publisher · View at Google Scholar · View at Scopus
  8. G. C. Anousaki and K. J. Kyriakopoulos, “Simultaneous localization and map building of skid-steered robots,” IEEE Robotics and Automation Magazine, vol. 14, no. 1, pp. 79–89, 2007. View at Publisher · View at Google Scholar · View at Scopus
  9. A. Elfes, “Sonar-based real-world mapping and navigation,” IEEE Journal of Robotics and Automation, vol. 3, no. 3, pp. 249–265, 1987. View at Google Scholar · View at Scopus
  10. I. J. Cox, “Blanche—an experiment in guidance and navigation of an autonomous robot vehicle,” IEEE Transactions on Robotics and Automation, vol. 7, no. 2, pp. 193–204, 1991. View at Publisher · View at Google Scholar · View at Scopus
  11. P. J. Besl and N. D. McKay, “A method for registration of 3-D shapes,” IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 14, no. 2, pp. 239–256, 1992. View at Publisher · View at Google Scholar · View at Scopus
  12. F. Lu and E. Milios, “Robot pose estimation in unknown environments by matching 2D range scans,” Journal of Intelligent and Robotic Systems: Theory and Applications, vol. 18, no. 3, pp. 249–275, 1997. View at Google Scholar · View at Scopus
  13. J. Minguez, L. Montesano, and F. Lamiraux, “Metric-based iterative closest point scan matching for sensor displacement estimation,” IEEE Transactions on Robotics, vol. 22, no. 5, pp. 1047–1054, 2006. View at Publisher · View at Google Scholar · View at Scopus
  14. A. Diosi and L. Kleeman, “Fast laser scan matching using polar coordinates,” International Journal of Robotics Research, vol. 26, no. 10, pp. 1125–1153, 2007. View at Publisher · View at Google Scholar · View at Scopus
  15. J. S. Gutmann and C. Schlegel, “AMOS: comparison of scan matching approaches for self-location in indoor environments,” in Proceedings of the 1st Euromicro Workshop on Advanced Mobile Robots, pp. 61–67, Kaiserslautern, German, October 1996.
  16. Y. Zhuang, K. Wang, W. Wang, and H. Hu, “A hybrid sensing approach to mobile robot localization in complex indoor environments,” International Journal of Robotics and Automation, vol. 27, no. 2, pp. 198–205, 2012. View at Publisher · View at Google Scholar · View at Scopus
  17. L. Pedraza, D. Rodriguez-Losada, F. Matía, G. Dissanayake, and J. V. Miró, “Extending the limits of feature-based SLAM with B-splines,” IEEE Transactions on Robotics, vol. 25, no. 2, pp. 353–366, 2009. View at Publisher · View at Google Scholar · View at Scopus
  18. M. Unser, A. Aldroubi, and M. Eden, “B-spline signal processing. Part I. Theory,” IEEE Transactions on Signal Processing, vol. 41, no. 2, pp. 821–833, 1993. View at Publisher · View at Google Scholar · View at Scopus
  19. E. B. Olson, “Real-time correlative scan matching,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '09), pp. 4387–4393, Kobe, Japan, May 2009. View at Publisher · View at Google Scholar · View at Scopus
  20. S. Grzonka, G. Grisetti, and W. Burgard, “A fully autonomous indoor quadrotor,” IEEE Transactions on Robotics, vol. 28, no. 1, pp. 90–100, 2012. View at Publisher · View at Google Scholar · View at Scopus
  21. Z. Arican and P. Frossard, “Scale-invariant features and polar descriptors in omnidirectional imaging,” IEEE Transactions on Image Processing, vol. 21, no. 5, pp. 2412–2423, 2012. View at Publisher · View at Google Scholar · View at MathSciNet · View at Scopus
  22. G. Dudek and M. Jenkin, Computational Principles of Mobile Robotics, Cambridge University Press, Cambridge, UK, 2010.
  23. G. Huo, R. Li, L. Zhao, and K. Wang, “A novel fusion method for robot indoor environment mapping,” in Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO '14), pp. 2507–2510, Bali, Indonesia, December 2014. View at Publisher · View at Google Scholar · View at Scopus