文章基本信息

标题：Novel Point-to-Point Scan Matching Algorithm Based on Cross-Correlation
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作者：Jaromir Konecny ; Michal Prauzek ; Pavel Kromer 等
期刊名称：Mobile Information Systems
印刷版ISSN：1574-017X
出版年度：2016
卷号：2016
DOI：10.1155/2016/6463945
出版社：Hindawi Publishing Corporation
摘要：The localization of mobile robots in outdoor and indoor environments is a complex issue. Many sophisticated approaches, based on various types of sensory inputs and different computational concepts, are used to accomplish this task. However, many of the most efficient methods for mobile robot localization suffer from high computational costs and/or the need for high resolution sensory inputs. Scan cross-correlation is a traditional approach that can be, in special cases, used to match temporally aligned scans of robot environment. This work proposes a set of novel modifications to the cross-correlation method that extend its capability beyond these special cases to general scan matching and mitigate its computational costs so that it is usable in practical settings. The properties and validity of the proposed approach are in this study illustrated on a number of computational experiments.