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首页> 外文会议>Third annual symposium on logic in computer science >Localization in changing environments by matching laser range scans
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Localization in changing environments by matching laser range scans

机译：通过匹配激光范围扫描在变化的环境中进行本地化

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摘要

We present a novel scan matching algorithm, IDC-S, Iterative DualnCorrespondence-Sector, that matches range scans. The algorithm is basednon the known Iterative Dual Correspondence, IDC, algorithm which hasnshown good performance in real environments. The improvement is thatnIDC-S is able to deal with relatively large changes in the environment.nIt divides the scan in several sectors, detects and removes thosensectors that are changed and matches the scans only using unchangednsectors. IDC-S and other variants of IDC are extensively simulated andnevaluated. The simulations show that IDC-S is very robust and can locatenin many different kind of environments. We also show that it is possiblento effectively combine the existing IDC algorithms with IDC-S, thusnobtaining an algorithm that performs very well both in rectilinear asnwell as nonrectilinear environments, even when changed as much as 65%
机译：我们提出了一种新颖的扫描匹配算法IDC-S，即迭代DualnCorrespondence-Sector，它可以匹配范围扫描。该算法是基于已知的迭代双通信IDC算法，该算法在实际环境中尚未显示出良好的性能。改进之处在于，nIDC-S能够应对环境中相对较大的变化。nIDC-S将扫描分为几个扇区，检测并删除那些已更改的扇区，并仅使用未更改的扇区来匹配扫描。对IDC-S和IDC的其他变体进行了广泛的仿真和评估。仿真表明，IDC-S非常强大，可以在许多不同类型的环境中定位。我们还表明，有可能将现有的IDC算法与IDC-S有效地结合在一起，从而获得即使在变化高达65％的情况下，在直线上升和非直线环境中也能表现出色的算法

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