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Weighted line fitting algorithms for mobile robot map building and efficient data representation

Pfister, Samuel T. and Roumeliotis, Stergios I. and Burdick, Joel W. (2003) Weighted line fitting algorithms for mobile robot map building and efficient data representation. In: 2003 IEEE International Conference on Robotics and Automation. Vol.1. IEEE , Piscataway, NJ, pp. 1304-1311. ISBN 0-7803-7736-2. https://resolver.caltech.edu/CaltechAUTHORS:20190625-100945079

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Abstract

This paper presents an algorithm to find the line-based map that best fits sets of two-dimensional range scan data. To construct the map, we first provide an accurate means to fit a line segment to a set of uncertain points via maximum likelihood formalism. This scheme weights each point's influence on the fit according to its uncertainty, which is derived from sensor noise models. We also provide closed-form formulas for the covariance of the line fit, along with methods to transform line coordinates and covariances across robot poses. A Chi-squared based criterion for "knitting" together sufficiently similar lines can be used to merge lines directly (as we demonstrate) or as part of the framework for a line-based SLAM implementation. Experiments using a Sick LMS-200 laser scanner and a Nomad 200 mobile robot illustrate the effectiveness of the algorithm.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ROBOT.2003.1241772DOIArticle
Additional Information:© 2003 IEEE. This research was sponsored in part by a NSF Engineering Research Center grant NSF9402726 and NSF ERC-CREST partnership award EEC-9730980.
Funders:
Funding AgencyGrant Number
NSFEEC-9402726
NSFEEC-9730980
Record Number:CaltechAUTHORS:20190625-100945079
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190625-100945079
Official Citation:S. T. Pfister, S. I. Roumeliotis and J. W. Burdick, "Weighted line fitting algorithms for mobile robot map building and efficient data representation," 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), Taipei, Taiwan, 2003, pp. 1304-1311 vol.1. doi: 10.1109/ROBOT.2003.1241772
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96691
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:25 Jun 2019 18:30
Last Modified:03 Oct 2019 21:24

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