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Novel Point-to-Point Scan Matching Algorithm Based on Cross-Correlation
Joint Authors
Konecny, Jaromir
Prauzek, Michal
Kromer, Pavel
Musilek, Petr
Source
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-04-24
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Telecommunications Engineering
Abstract EN
The localization of mobile robots in outdoor and indoor environments is a complex issue.
Many sophisticated approaches, based on various types of sensory inputs and different computational concepts, are used to accomplish this task.
However, many of the most efficient methods for mobile robot localization suffer from high computational costs and/or the need for high resolution sensory inputs.
Scan cross-correlation is a traditional approach that can be, in special cases, used to match temporally aligned scans of robot environment.
This work proposes a set of novel modifications to the cross-correlation method that extend its capability beyond these special cases to general scan matching and mitigate its computational costs so that it is usable in practical settings.
The properties and validity of the proposed approach are in this study illustrated on a number of computational experiments.
American Psychological Association (APA)
Konecny, Jaromir& Prauzek, Michal& Kromer, Pavel& Musilek, Petr. 2016. Novel Point-to-Point Scan Matching Algorithm Based on Cross-Correlation. Mobile Information Systems،Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1111566
Modern Language Association (MLA)
Konecny, Jaromir…[et al.]. Novel Point-to-Point Scan Matching Algorithm Based on Cross-Correlation. Mobile Information Systems No. 2016 (2016), pp.1-11.
https://search.emarefa.net/detail/BIM-1111566
American Medical Association (AMA)
Konecny, Jaromir& Prauzek, Michal& Kromer, Pavel& Musilek, Petr. Novel Point-to-Point Scan Matching Algorithm Based on Cross-Correlation. Mobile Information Systems. 2016. Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1111566
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1111566