NDLI: Ladar scan preprocessing for robust motion estimation

Content Provider	IEEE Xplore Digital Library
Author	Gutierrez, R. Gonzalez, J. Blanco, J.L.
Copyright Year	2007
Description	Author affiliation: Dept. of Electron., Univ. of Jaen, Jaen (Gutierrez, R.)
Abstract	Two-dimensional laser radars (2D-ladars) are sensors extensively used in mobile robotics for map building, self-localization, and obstacle detection due to their accuracy and reliability. Due to their fast sampling of the environment they also perfectly suit incremental ego-motion 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 patches in the scan and then filters out the noise in those sections. In contrast with other methods based on batches of filters and heuristic rules, our approach employs spectral information to automatically select the filter parameters. We validate our method with experimental results on real environments.
Starting Page	1
Ending Page	4
File Size	619389
Page Count	4
File Format	PDF
ISBN	9781424407781
DOI	10.1109/ISSPA.2007.4555522
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-02-12
Publisher Place	United Arab Emirates
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Laser radar Robustness Motion estimation Working environment noise Information filtering Information filters Mobile robots Robot sensing systems Radar detection Sampling methods
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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