NDLI: Fast Circular Landmark Detection for Cooperative Localisation and Mapping

Content Provider	IEEE Xplore Digital Library
Author	Ryde, J. Huosheng Hu
Copyright Year	2005
Description	Author affiliation: Department of Computer Science, University of Essex Wivenhoe Park, Colchester CO4 3SQ, England Email: jryde@essex.ac.uk (Ryde, J.)
Abstract	Map building through cooperative localisation (co-location) using circular geometric targets and a SICK laser range scanner is investigated. The tenet of co-location is circle detection in laser range data. Two methods for circle detection, a Range Weighted Circular Hough Transform (RWCHT) and a novel squared-residual voting strategy are compared and their performance assessed. The custom squared-residual voting strategy outperforms the RWCHT in all respects and is subsequently used for localisation and map building. The results include robust continuous localisation at speeds of 0.2m/s with 98% of scan frames used and an error of less than 0.03m. This localisation accuracy helps build maps of 96% quality and occupancy grids of cluttered environments despite the presence of distractors.
Starting Page	2745
Ending Page	2750
File Size	253121
Page Count	6
File Format	PDF
ISBN	078038914X
DOI	10.1109/ROBOT.2005.1570529
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Voting Robustness Mobile robots Laser theory Wireless networks Data mining Computer science Global Positioning System Position measurement Navigation Circle Detection Cooperative Localisation Mapping Hough Transform
Content Type	Text
Resource Type	Article

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