A map based on laserscans without geometric interpretation
- A map for an autonomous mobile robot (AMR) in an indoor environment for the purpose ofcontinuous position and orientation estimation is discussed. Unlike many other approaches, this map is not based on geometrical primitives like lines and polygons. An algorithm is shown , where the sensordata of a laser range finder can be used to establish this map without a geometrical interpretation of the data. This is done by converting single laser radar scans to statistical representations of the environ-ment, so that a crosscorrelation of an actu al converted scan and this representative results into the actual position and orientation in a global coordinate system. The map itsel f is build of representative scansfor the positions where the AMR has been, so that it is able to find its position and orientation by c omparing the actual scan with a scan stored in the map.
Author: | Gerhard Weiß, Ewald von Puttkamer |
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URN: | urn:nbn:de:hbz:386-kluedo-2857 |
Document Type: | Preprint |
Language of publication: | English |
Year of Completion: | 1999 |
Year of first Publication: | 1999 |
Publishing Institution: | Technische Universität Kaiserslautern |
Date of the Publication (Server): | 2000/04/03 |
Tag: | Autonomous mobile robots; Correlation; Map Building; Position- and Orientation Estimation; Self-Referencing |
Source: | IAS-4 Karlsruhe, Germany; March, 1995 |
Faculties / Organisational entities: | Kaiserslautern - Fachbereich Informatik |
DDC-Cassification: | 0 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik |
Licence (German): | Standard gemäß KLUEDO-Leitlinien vor dem 27.05.2011 |