Scan matching method using projection in dominant direction of indoor environment

Shigeru Bando; Takashi Tsubouchi; Shin'Ichi Yuta

doi:10.1080/01691864.2014.920721

Scan matching method using projection in dominant direction of indoor environment

Shigeru Bando, Takashi Tsubouchi, Shin'Ichi Yuta

Department of Electrical Engineering

Research output: Contribution to journal › Article › peer-review

2 Citations (Scopus)

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	https://doi.org/10.1080/01691864.2014.920721
Publication status	Published - 2014 Sep 17

Keywords

dominant direction
indoor
mobile robot
scan matching

ASJC Scopus subject areas

Software
Control and Systems Engineering
Human-Computer Interaction
Hardware and Architecture
Computer Science Applications

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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.",

keywords = "dominant direction, indoor, mobile robot, scan matching",

author = "Shigeru Bando and Takashi Tsubouchi and Shin'Ichi Yuta",

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AU - Tsubouchi, Takashi

AU - Yuta, Shin'Ichi

N1 - Funding Information: This work was supported by JSPS Grant-in-Aid for JSPS Fellows Grant Number 25-1761.

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.

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KW - indoor

KW - mobile robot

KW - scan matching

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Scan matching method using projection in dominant direction of indoor environment

Abstract

Keywords

ASJC Scopus subject areas

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