Polar Metric-Weighted Norm-Based Scan Matching for Robot Pose Estimation
Joint Authors
Huo, Guanglei
Zhao, Lijun
Wang, Ke
Li, Ruifeng
Li, Jianqiang
Source
Discrete Dynamics in Nature and Society
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-20, 20 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-04-12
Country of Publication
Egypt
No. of Pages
20
Main Subjects
Abstract EN
A novel point-to-point scan matching approach is proposed to address pose estimation and map building issues of mobile robots.
Polar Scan Matching (PSM) and Metric-Based Iterative Closest Point (Mb-ICP) are usually employed for point-to-point scan matching tasks.
However, due to the facts that PSM considers the distribution similarity of polar radii in irrelevant region of reference and current scans and Mb-ICP assumes a constant weight in the norm about rotation angle, they may lead to a mismatching of the reference and current scan in real-world scenarios.
In order to obtain better match results and accurate estimation of the robot pose, we introduce a new metric rule, Polar Metric-Weighted Norm (PMWN), which takes both rotation and translation into account to match the reference and current scan.
For robot pose estimation, the heading rotation angle is estimated by correspondences establishing results and further corrected by an absolute-value function, and then the geometric property of PMWN called projected circle is used to estimate the robot translation.
The extensive experiments are conducted to evaluate the performance of PMWN-based approach.
The results show that the proposed approach outperforms PSM and Mb-ICP in terms of accuracy, efficiency, and loop closure error of mapping.
American Psychological Association (APA)
Huo, Guanglei& Zhao, Lijun& Wang, Ke& Li, Ruifeng& Li, Jianqiang. 2016. Polar Metric-Weighted Norm-Based Scan Matching for Robot Pose Estimation. Discrete Dynamics in Nature and Society،Vol. 2016, no. 2016, pp.1-20.
https://search.emarefa.net/detail/BIM-1103344
Modern Language Association (MLA)
Huo, Guanglei…[et al.]. Polar Metric-Weighted Norm-Based Scan Matching for Robot Pose Estimation. Discrete Dynamics in Nature and Society No. 2016 (2016), pp.1-20.
https://search.emarefa.net/detail/BIM-1103344
American Medical Association (AMA)
Huo, Guanglei& Zhao, Lijun& Wang, Ke& Li, Ruifeng& Li, Jianqiang. Polar Metric-Weighted Norm-Based Scan Matching for Robot Pose Estimation. Discrete Dynamics in Nature and Society. 2016. Vol. 2016, no. 2016, pp.1-20.
https://search.emarefa.net/detail/BIM-1103344
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1103344