NOVEL 3D MATCHING SELF-LOCALISATION ALGORITHM

Detalhes bibliográficos
Autor(a) principal: Aníbal Matos
Data de Publicação: 2012
Outros Autores: Miguel Armando Pinto, António Paulo Moreira, Héber Miguel Sobreira
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://repositorio.inesctec.pt/handle/123456789/2629
Resumo: A new and fast methodology is discussed as a solution to pinpointing the location of a robot called RobVigil, in a robust way, without environment preparation, even in dynamic scenarios. This solution does not require a high computational power. Firstly, the EKF-SLAM is used to find the location of the vehicle, allowing to map the surrounding area in the 3D space. Afterwards, the constructed map is used in a 3D matching algorithm during the normal operation of the vehicle to pinpoint its location. The 3D matching algorithm uses data from a tilting Laser Range Finder. Experimental results on the performance and accuracy of the proposed method are presented in this paper.
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spelling NOVEL 3D MATCHING SELF-LOCALISATION ALGORITHMA new and fast methodology is discussed as a solution to pinpointing the location of a robot called RobVigil, in a robust way, without environment preparation, even in dynamic scenarios. This solution does not require a high computational power. Firstly, the EKF-SLAM is used to find the location of the vehicle, allowing to map the surrounding area in the 3D space. Afterwards, the constructed map is used in a 3D matching algorithm during the normal operation of the vehicle to pinpoint its location. The 3D matching algorithm uses data from a tilting Laser Range Finder. Experimental results on the performance and accuracy of the proposed method are presented in this paper.2017-11-16T13:55:17Z2012-01-01T00:00:00Z2012info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://repositorio.inesctec.pt/handle/123456789/2629engAníbal MatosMiguel Armando PintoAntónio Paulo MoreiraHéber Miguel Sobreirainfo:eu-repo/semantics/embargoedAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-05-15T10:20:01Zoai:repositorio.inesctec.pt:123456789/2629Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:52:34.409887Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv NOVEL 3D MATCHING SELF-LOCALISATION ALGORITHM
title NOVEL 3D MATCHING SELF-LOCALISATION ALGORITHM
spellingShingle NOVEL 3D MATCHING SELF-LOCALISATION ALGORITHM
Aníbal Matos
title_short NOVEL 3D MATCHING SELF-LOCALISATION ALGORITHM
title_full NOVEL 3D MATCHING SELF-LOCALISATION ALGORITHM
title_fullStr NOVEL 3D MATCHING SELF-LOCALISATION ALGORITHM
title_full_unstemmed NOVEL 3D MATCHING SELF-LOCALISATION ALGORITHM
title_sort NOVEL 3D MATCHING SELF-LOCALISATION ALGORITHM
author Aníbal Matos
author_facet Aníbal Matos
Miguel Armando Pinto
António Paulo Moreira
Héber Miguel Sobreira
author_role author
author2 Miguel Armando Pinto
António Paulo Moreira
Héber Miguel Sobreira
author2_role author
author
author
dc.contributor.author.fl_str_mv Aníbal Matos
Miguel Armando Pinto
António Paulo Moreira
Héber Miguel Sobreira
description A new and fast methodology is discussed as a solution to pinpointing the location of a robot called RobVigil, in a robust way, without environment preparation, even in dynamic scenarios. This solution does not require a high computational power. Firstly, the EKF-SLAM is used to find the location of the vehicle, allowing to map the surrounding area in the 3D space. Afterwards, the constructed map is used in a 3D matching algorithm during the normal operation of the vehicle to pinpoint its location. The 3D matching algorithm uses data from a tilting Laser Range Finder. Experimental results on the performance and accuracy of the proposed method are presented in this paper.
publishDate 2012
dc.date.none.fl_str_mv 2012-01-01T00:00:00Z
2012
2017-11-16T13:55:17Z
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dc.identifier.uri.fl_str_mv http://repositorio.inesctec.pt/handle/123456789/2629
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dc.language.iso.fl_str_mv eng
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dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
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instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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