Computer Engineering and Applications ›› 2009, Vol. 45 ›› Issue (33): 245-248.DOI: 10.3778/j.issn.1002-8331.2009.33.075

• 工程与应用 • Previous Articles    

Scan matching preprocess for simultaneous localization and mapping

WEN An-bang,WU Huai-yu,ZHAO Ji   

  1. College of Information Science and Engineering,Wuhan University of Science and Technology,Wuhan 430081,China
  • Received:2008-07-21 Revised:2008-10-17 Online:2009-11-21 Published:2009-11-21
  • Contact: WEN An-bang


温安邦,吴怀宇,赵 季   

  1. 武汉科技大学 信息科学与工程学院,武汉 430081
  • 通讯作者: 温安邦

Abstract: Simultaneous Localization And Mapping(SLAM) problem and its solution for indoor autonomous mobile robot are analyzed.To improve the accuracy and robustness,a method using preprocess based on scan match for SLAM is proposed.This method can feed SLAM with a priori pose information,and is proved to be valid and practical by analyzing the result of experiment.

Key words: mobile robot, Simultaneous Localization And Mapping(SLAM), scan matching, Iterative Closest Point(ICP)

摘要: 研究了室内自主移动机器人的即时定位与地图创建问题。分析了目前解决SLAM问题的方法,提出了基于扫描匹配预处理的即时定位与地图创建,用扫描匹配为SLAM提供机器人先验位姿信息。对实验结果和数据的分析,得出了所提出方法可进一步提高SLAM的精度和鲁棒性。

关键词: 移动机器人, 即时定位与地图创建, 扫描匹配, ICP扫描匹配算法

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