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	Research on laser radar based real-time pose estimation for mobile robots
	Yang Ming ; Dong Bin ; Wang Hong ; Zhang Bo ; Araujo, H.
	2010-05-06 ; 2010-05-06
关键词	Practical Theoretical or Mathematical Experimental/ Hough transforms iterative methods mobile robots optical radar parameter estimation real-time systems/ mobile robots real-time pose estimation laser radar Hough transform tangent angle histogram algorithms iterative closest point/ B6320C Optical radar B0230 Integral transforms C3390C Mobile robots C1220 Simulation, modelling and identification C7420 Control engineering computing C1130 Integral transforms
中文摘要	Pose estimation is a key issue in mobile robots and important to moving objects tracking, robot navigation, map building, etc. A real-time pose estimation method using 2D range data from a laser radar is presented, which consists of iterative tangent weighted closest point and Hough transform based tangent angle histogram algorithms to overcome problems with past methods, such as local minimum, aperture-like, high computation problem, etc. This method has been tested on both synthetic and real range data collected in outdoor environment. Experimental results demonstrate its high accuracy, low computation, wide applicability and high robustness to aperture-like problem, occlusion and noises.
语种	英语 ; 英语
出版者	Science Press ; China
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/12073]
专题	清华大学
推荐引用方式 GB/T 7714	Yang Ming,Dong Bin,Wang Hong,et al. Research on laser radar based real-time pose estimation for mobile robots[J],2010, 2010.
APA	Yang Ming,Dong Bin,Wang Hong,Zhang Bo,&Araujo, H..(2010).Research on laser radar based real-time pose estimation for mobile robots..
MLA	Yang Ming,et al."Research on laser radar based real-time pose estimation for mobile robots".(2010).

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