科研成果
李霖的论文在APPLIED SCIENCES-BASEL刊出
发布时间:2018-03-29 15:06:13     发布者:yz     浏览次数:

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 : 8  : 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.

入藏号:WOS:000427510300124

文献类型:Article

语种:English

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.

电子邮件地址:lilin@whu.edu.cn; 2011301130092@whu.edu.cn; zuoxinkai2012@whu.edu.cn; hhzhu@whu.edu.cn

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.

影响因子:1.679


信息服务
学院网站教师登录 学院办公电话 学校信息门户登录

版权所有 © 武汉大学资源与环境科学学院
地址:湖北省武汉市珞喻路129号 邮编:430079 
电话:027-68778381,68778284,68778296 传真:027-68778893     技术支持:尚网互联