Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
10326858 | Robotics and Autonomous Systems | 2005 | 22 Pages |
Abstract
This paper describes a novel, laser-based approach for tracking the pose of a high-speed mobile robot. The algorithm is outstanding in terms of accuracy and computation time. The efficiency is achieved by a closed-form solution for the matching of two laser scans, the use of natural scan features and fast linear filters. The implemented algorithm is evaluated with the high-speed robot Kurt3D (4âm/s), and compared to standard scan matching methods in indoor and outdoor environments.
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
Kai Lingemann, Andreas Nüchter, Joachim Hertzberg, Hartmut Surmann,