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首页> 外文会议>IEEE Conference on Systems, Process and Control >Laser range finder filters for mapping and localisation
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Laser range finder filters for mapping and localisation

机译：激光测距仪滤光片，用于定位和定位

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摘要

In the real world, sensors are always exposes to noise and error during measurements. These problems will lead to invalid and overshoot readings, as well as blank data. Fortunately, these errors can be treated using filters. For data collection process using laser range finder, the use of filters is necessary as they can help to overcome the laser limitations and improve the scanning input. Here, this paper presents a significant work on filters towards the laser range finder data for robotic mapping and localisation purpose. Raw filter and smooth filter are chosen and they will assist the localisation algorithm adapted here in determining the accurate coordinates of mobile robot location estimation. The results show that by using the filters, location estimation have achieved 90% accuracy. At the same time, it is also shown that less processing data and faster processing speed can be achieved by incorporating the filters. As a conclusion, the raw and smooth filters are very suitable to be applied into the laser range finder data and are successful in improving the localisation accuracy.
机译：在现实世界中，传感器在测量过程中始终会受到噪声和误差的影响。这些问题将导致无效和过冲的读数以及空白数据。幸运的是，可以使用过滤器来处理这些错误。对于使用激光测距仪的数据收集过程，必须使用过滤器，因为它们可以帮助克服激光的局限性并改善扫描输入。在此，本文介绍了针对激光测距仪数据的过滤器的重要工作，以实现机器人制图和定位的目的。选择原始过滤器和平滑过滤器，它们将协助此处调整的定位算法确定移动机器人位置估计的准确坐标。结果表明，通过使用滤波器，位置估计已达到90％的精度。同时，还示出了通过合并滤波器可以实现更少的处理数据和更快的处理速度。总而言之，原始滤波器和平滑滤波器非常适合应用于激光测距仪数据，并且可以成功地提高定位精度。

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