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Multi-scale Point and Line Range Data Algorithms for Mapping and Localization

Pfister, Samuel T. and Burdick, Joel W. (2006) Multi-scale Point and Line Range Data Algorithms for Mapping and Localization. In: Proceedings of the 2006 IEEE International Conference on Robotics and Automation. IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 1159-1166. ISBN 0-7803-9505-0. http://resolver.caltech.edu/CaltechAUTHORS:20110121-100516594

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Abstract

This paper presents a multi-scale point and line based representation of two-dimensional range scan data. The techniques are based on a multi-scale Hough transform and a tree representation of the environment’s features. The multiscale representation can lead to improved robustness and computational efficiencies in basic operations, such as matching and correspondence, that commonly arise in many localization and mapping procedures. For multi-scale matching and correspondence we introduce a χ^2 criterion that is calculated from the estimated variance in position of each detected line segment or point. This improved correspondence method can be used as the basis for simple scan-matching displacement estimation, as a part of a SLAM implementation, or as the basis for solutions to the kidnapped robot problem. Experimental results (using a Sick LMS-200 range scanner) show the effectiveness of our methods.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/ROBOT.2006.1641866DOIUNSPECIFIED
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1641866PublisherUNSPECIFIED
Additional Information:© 2006 IEEE. Issue Date: 15-19 May 2006; Date of Current Version: 26 June 2006. This research has was sponsored in part by a National Science Foundation Engineering Research Center grant (NSF9402726) and NSF ERC-CREST partnership award EEC-9730980.
Funders:
Funding AgencyGrant Number
NSF Engineering Research Center NSF-9402726
NSF ERC-CREST partnership award EEC-9730980
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INSPEC Accession Number9109655
Record Number:CaltechAUTHORS:20110121-100516594
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20110121-100516594
Official Citation:Pfister, S.T.; Burdick, J.W.; , "Multi-scale point and line range data algorithms for mapping and localization," Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on , vol., no., pp.1159-1166, 15-19 May 2006 doi: 10.1109/ROBOT.2006.1641866 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1641866&isnumber=34383
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:21847
Collection:CaltechAUTHORS
Deposited By: Jason Perez
Deposited On:24 Jan 2011 18:16
Last Modified:29 Mar 2014 03:05

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