Fast 3D Map Matching Localisation Algorithm
Miguel Pinto , A. Paulo Moreira , Aníbal Matos ,Héber Sobreira,
and
Filipe Santos
INESC Porto - Institute for Systems and Computer Engineering of Porto, Faculty of Engineering, University of Porto, Porto, Portugal
Abstract—A new and fast methodology is discussed as a solution to pinpointing the location of a robot, in a robust way, without environment preparation, even in dynamic scenarios. This solution does not require a high computational power. The methodology is a three-dimensional map based approach, which uses the 3D map of the surrounding environment and data acquired by a tilting Laser Range Finder (LRF), to pinpoint the robot pose. Experimental results about the accuracy of the proposed method are presented in this paper.
Index Terms— robot localisation, 3D matching, EKF-SLAM, laser range finder
Cite: Miguel Pinto, A. Paulo Moreira, Aníbal Matos, Héber Sobreira, and Filipe Santos, "Fast 3D Map Matching Localisation Algorithm," Journal of Automation and Control Engineering, Vol.1, No.2, pp. 110-114, June 2013. doi: 10.12720/joace.1.2.110-114
Index Terms— robot localisation, 3D matching, EKF-SLAM, laser range finder
Cite: Miguel Pinto, A. Paulo Moreira, Aníbal Matos, Héber Sobreira, and Filipe Santos, "Fast 3D Map Matching Localisation Algorithm," Journal of Automation and Control Engineering, Vol.1, No.2, pp. 110-114, June 2013. doi: 10.12720/joace.1.2.110-114
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