利用光学距离数据进行位置估计和跟踪

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI:10.1109/IROS.1993.583929

Stephen Borthwick, Michael Stevens, H. Durrant-Whyte

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引用次数: 21

摘要

利用扫描光学测距仪，构建了环境的密集地图。由此，提取线段目标并与先验映射进行匹配，以获得扩展卡尔曼滤波器的观测值。然后，该滤波器能够实时更新自动制导车辆的位置预测(使用里程计)，使用廉价的传感技术提供高速位置估计。

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Position estimation and tracking using optical range data

With the use of a scanning optical ranger, a dense map of an environment has been constructed. From this, line segment targets are extracted and matched against an a priori map to obtain observations for an extended Kalman filter. This filter is then able to update predictions of an autonomous guided vehicle's position (made using odometry) in real time, offering high-speed position estimation using inexpensive sensing techniques.

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Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)

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