Computer Engineering and Applications ›› 2009, Vol. 45 ›› Issue (25): 246-248.DOI: 10.3778/j.issn.1002-8331.2009.25.076

• 工程与应用 • Previous Articles    

Study of SLAM based on NDT scan-matching for home service robot

LI Xian-shan,ZHAO Feng-da,KONG Ling-fu   

  1. College of Information Science and Engineering,Yanshan University,Qinhuangdao,Hebei 066004,China
  • Received:2009-07-02 Revised:2009-08-05 Online:2009-09-01 Published:2009-09-01
  • Contact: LI Xian-shan



  1. 燕山大学 信息科学与工程学院,河北 秦皇岛 066004
  • 通讯作者: 李贤善

Abstract: Normal Distributions Transform(NDT) is used in scan-matching based SLAM,and map-building is implemented in larger scale indoor environment by home service robots.The matching between geometrical features is replaced by the matching of normal probability distribution of scanning points in this method,and effectively resolves the problem of slower speed of existing scan-matching method.

Key words: Simultaneous Localization And Mapping(SLAM), scan-matching, Normal Distributions Transform(NDT)

摘要: 将正态分布变换(NDT)应用于基于扫描匹配的SLAM中,实现了家庭服务机器人较大规模室内环境下的建图。该方法利用计算扫描点的正态概率分布匹配代替几何特征之间的匹配,有效解决了现有方法匹配速度慢的问题。

关键词: 同时定位与建图, 扫描匹配, 正态分布变换

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