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Ladar scan preprocessing for robust motion estimation.
| Content Provider | CiteSeerX |
|---|---|
| Author | Gutiérrez, Rafael González, Javier Blanco, José Luis |
| Abstract | Two-dimensional laser radars (2D-ladars) are sensors extensively used in mobile robotics for map building, selflocalization, and obstacle detection due to their accuracy and reliability. Due to their fast sampling of the environment they also perfectly suit incremental egomotion estimation, that is, to find how the position of the vehicle changes in short periods of time only by comparing sensor readings. Some of the most accurate methods dealing with this problem rely on a consistent computation of derivatives of range scans provided by the ladar. In practice, edges in the environment and sensor noise lead to inconsistencies in this computation. In this work we introduce an approach in the frequency domain, which robustly detects the continuous contour |
| File Format | |
| Access Restriction | Open |
| Subject Keyword | Mobile Robotics Consistent Computation Sensor Reading Suit Incremental Egomotion Estimation Map Building Fast Sampling Two-dimensional Laser Radar Accurate Method Frequency Domain Continuous Contour Obstacle Detection Vehicle Change Range Scan Short Period |
| Content Type | Text |
