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  2011, Vol. 24 Issue (3): 314-320    DOI:
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A Global Scan Matching Method Based on Geometric Statistic Features

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Abstract  A global scan matching method is proposed to study how to synchronize robot localization, environmental profile characterization and changed regions discrimination in dynamic environment. In the proposed method, a probeverifysolve (PVS) matching strategy is described. Highlevel geometric statistic features are defined for laser scan segments and scan points. After precise matching between scan data, the environmental profile can be characterized and meanwhile the robot pose can be rectified. Changes in the environment are discriminated using PVS matching strategy. Finally, the proposed method is verified through experiments using several real laser datasets in unknown dynamic indoor environments, and the effectiveness of the proposed method is proved.
Key wordsGlobal Scan Matching      Mobile Robot      Localization      Dynamic Environment      Mapping     
ZTFLH: TP 24  
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Articles by authors
SUN Feng-Chi
YUAN Jing
HUANG Ya-Lou
Cite this article:   
SUN Feng-Chi,YUAN Jing,HUANG Ya-Lou. A Global Scan Matching Method Based on Geometric Statistic Features[J]. , 2011, 24(3): 314-320.
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http://manu46.magtech.com.cn/Jweb_prai/EN/      OR     http://manu46.magtech.com.cn/Jweb_prai/EN/Y2011/V24/I3/314
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