标题：An Improved MbICP Algorithm for Mobile Robot Pose Estimation
作者： Li, L (Li, Lin); Liu, J (Liu, Jun); Zuo, XK (Zuo, Xinkai); Zhu, HH (Zhu, Haihong)
来源出版物：APPLIED SCIENCES-BASEL 卷: 8 期: 2 文献号: 272 DOI： 10.3390/app8020272 出版年： FEB 2018
摘要：This paper presents an improved version of the metric-based iterative closest point algorithm to estimate robot poses by matching 2D laser scans with different overlapping percentages. Because of the greatly varied density distribution of realistic point clouds, a resampling method is used to accelerate the iteration process and protect the calculation of the rejection threshold from being distorted by reducing dense but unhelpful points. A new procedure that combines point-to-point and point-to-line metrics is used to determine the correct correspondence between partially overlapping scans, which maintains both efficiency and accuracy. In addition, a rejection threshold that is based on the MAD-from-median method is utilized to discard correspondences with large distances, which are likely to be incorrect. Experiments show that the improved algorithm is more accurate and robust than the standard algorithm with respect to the existence of non-overlapping areas, and testing demonstrates that it is valid in practice.
作者关键词：2D laser scans; robot pose; resampling; partially overlapping
扩展关键词： ICP VARIANTS; SCAN; LOCALIZATION
通讯作者地址：Zhu, HH (通讯作者),Wuhan Univ, Sch Resources & Environm Sci, 129 Luoyu Rd, Wuhan 430079, Hubei, Peoples R China.
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地址：[Li, Lin; Liu, Jun; Zuo, Xinkai; Zhu, Haihong] Wuhan Univ, Sch Resources & Environm Sci, 129 Luoyu Rd, Wuhan 430079, Hubei, Peoples R China.
[Li, Lin] Wuhan Univ, Collaborat Innovat Ctr Geo Spatial Technol, 129 Luoyu Rd, Wuhan 430079, Hubei, Peoples R China.
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