Abstract
In this paper, we propose a new scan matching method, which uses the feature of structure in an artificial environment where walls are located parallel or perpendicular to one another. This method can precisely obtain the relative pose between two scan data using the dominant direction with a small calculation cost. Efficacy of this method is proved by an experiment conducted in an indoor environment.
| Original language | English |
|---|---|
| Pages (from-to) | 1243-1251 |
| Number of pages | 9 |
| Journal | Advanced Robotics |
| Volume | 28 |
| Issue number | 18 |
| DOIs | |
| Publication status | Published - 2014 Sep 17 |
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Keywords
- dominant direction
- indoor
- mobile robot
- scan matching
ASJC Scopus subject areas
- Control and Systems Engineering
- Human-Computer Interaction
- Computer Science Applications
- Hardware and Architecture
- Software
Cite this
Scan matching method using projection in dominant direction of indoor environment. / Bando, Shigeru; Tsubouchi, Takashi; Yuta, Shinichi.
In: Advanced Robotics, Vol. 28, No. 18, 17.09.2014, p. 1243-1251.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Scan matching method using projection in dominant direction of indoor environment
AU - Bando, Shigeru
AU - Tsubouchi, Takashi
AU - Yuta, Shinichi
PY - 2014/9/17
Y1 - 2014/9/17
N2 - In this paper, we propose a new scan matching method, which uses the feature of structure in an artificial environment where walls are located parallel or perpendicular to one another. This method can precisely obtain the relative pose between two scan data using the dominant direction with a small calculation cost. Efficacy of this method is proved by an experiment conducted in an indoor environment.
AB - In this paper, we propose a new scan matching method, which uses the feature of structure in an artificial environment where walls are located parallel or perpendicular to one another. This method can precisely obtain the relative pose between two scan data using the dominant direction with a small calculation cost. Efficacy of this method is proved by an experiment conducted in an indoor environment.
KW - dominant direction
KW - indoor
KW - mobile robot
KW - scan matching
UR - http://www.scopus.com/inward/record.url?scp=84905592659&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84905592659&partnerID=8YFLogxK
U2 - 10.1080/01691864.2014.920721
DO - 10.1080/01691864.2014.920721
M3 - Article
AN - SCOPUS:84905592659
VL - 28
SP - 1243
EP - 1251
JO - Advanced Robotics
JF - Advanced Robotics
SN - 0169-1864
IS - 18
ER -