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 |
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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Cite this
Bando, S., Tsubouchi, T., & Yuta, SI. (2014). Scan matching method using projection in dominant direction of indoor environment. Advanced Robotics, 28(18), 1243-1251. https://doi.org/10.1080/01691864.2014.920721