Monte Carlo Registration and Its Application with Autonomous Robots
Joint Authors
Rink, Christian
Kriegel, Simon
Seth, Daniel
Denninger, Maximilian
Marton, Zoltan-Csaba
Bodenmüller, Tim
Source
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-28, 28 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-08-25
Country of Publication
Egypt
No. of Pages
28
Main Subjects
Abstract EN
This work focuses on Monte Carlo registration methods and their application with autonomous robots.
A streaming and an offline variant are developed, both based on a particle filter.
The streaming registration is performed in real-time during data acquisition with a laser striper allowing for on-the-fly pose estimation.
Thus, the acquired data can be instantly utilized, for example, for object modeling or robot manipulation, and the laser scan can be aborted after convergence.
Curvature features are calculated online and the estimated poses are optimized in the particle weighting step.
For sampling the pose particles, uniform, normal, and Bingham distributions are compared.
The methods are evaluated with a high-precision laser striper attached to an industrial robot and with a noisy Time-of-Flight camera attached to service robots.
The shown applications range from robot assisted teleoperation, over autonomous object modeling, to mobile robot localization.
American Psychological Association (APA)
Rink, Christian& Kriegel, Simon& Seth, Daniel& Denninger, Maximilian& Marton, Zoltan-Csaba& Bodenmüller, Tim. 2016. Monte Carlo Registration and Its Application with Autonomous Robots. Journal of Sensors،Vol. 2016, no. 2016, pp.1-28.
https://search.emarefa.net/detail/BIM-1110377
Modern Language Association (MLA)
Rink, Christian…[et al.]. Monte Carlo Registration and Its Application with Autonomous Robots. Journal of Sensors No. 2016 (2016), pp.1-28.
https://search.emarefa.net/detail/BIM-1110377
American Medical Association (AMA)
Rink, Christian& Kriegel, Simon& Seth, Daniel& Denninger, Maximilian& Marton, Zoltan-Csaba& Bodenmüller, Tim. Monte Carlo Registration and Its Application with Autonomous Robots. Journal of Sensors. 2016. Vol. 2016, no. 2016, pp.1-28.
https://search.emarefa.net/detail/BIM-1110377
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1110377