标題：An Improved MbICP Algorithm for Mobile Robot Pose Estimation

作者： Li, L (Li, Lin); Liu, J (Liu, Jun); Zuo, XK (Zuo, Xinkai); Zhu, HH (Zhu, Haihong)

來源出版物：APPLIED SCIENCES-BASEL卷: 8 期: 2 文獻号: 272 DOI： 10.3390/app8020272 出版年： FEB 2018

摘要：This paper presents an improved version of the metric-based iterative closest point algorithm to estimate robot poses by matching 2D laser scans with different overlapping percentages. Because of the greatly varied density distribution of realistic point clouds, a resampling method is used to accelerate the iteration process and protect the calculation of the rejection threshold from being distorted by reducing dense but unhelpful points. A new procedure that combines point-to-point and point-to-line metrics is used to determine the correct correspondence between partially overlapping scans, which maintains both efficiency and accuracy. In addition, a rejection threshold that is based on the MAD-from-median method is utilized to discard correspondences with large distances, which are likely to be incorrect. Experiments show that the improved algorithm is more accurate and robust than the standard algorithm with respect to the existence of non-overlapping areas, and testing demonstrates that it is valid in practice.

入藏号：WOS:000427510300124

文獻類型：Article

語種：English

作者關鍵詞：2D laser scans; robot pose; resampling; partially overlapping

擴展關鍵詞： ICP VARIANTS; SCAN; LOCALIZATION

通訊作者地址：Zhu, HH (通訊作者),Wuhan Univ, Sch Resources & Environm Sci, 129 Luoyu Rd, Wuhan 430079, Hubei, Peoples R China.

電子郵件地址：lilin@whu.edu.cn; 2011301130092@whu.edu.cn; zuoxinkai2012@whu.edu.cn;hhzhu@whu.edu.cn

地址：[Li, Lin; Liu, Jun; Zuo, Xinkai; Zhu, Haihong] Wuhan Univ, Sch Resources & Environm Sci, 129 Luoyu Rd, Wuhan 430079, Hubei, Peoples R China.

[Li, Lin] Wuhan Univ, Collaborat Innovat Ctr Geo Spatial Technol, 129 Luoyu Rd, Wuhan 430079, Hubei, Peoples R China.

影響因子：1.679