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On motion estimation for a mobile robot navigating in natural environment: matching laser range measurements using the distance transform
Linköpings universitet.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
1992 (English)In: Proceedings of the 1992 lEEE/RSJ International Conference on Intelligent Robots and Systems, 1992, 1421-1428 p.Conference paper (Refereed)
Abstract [en]

The goal behind this paper is to find a generic method for controlling the motion of a robot relative to an object of an arbitrary shape. In this paper we study; - modelling laser range measurements for different type of objectslsurface properties. Outdoor scenes are emphasized. - testing the distance transform on measurements for estimating the motion of a robot relative to an object of arbitmy shape. Emphasis in the present study is to get experience of the error mechanism in the distance transform when tested on cluttered laser measurements. Both natural and man-made objects are used and compared in the tests.

Place, publisher, year, edition, pages
1992. 1421-1428 p.
Research subject
Industrial Electronics
URN: urn:nbn:se:ltu:diva-30798Local ID: 4be98690-7cd7-11db-8824-000ea68e967bOAI: diva2:1004027
IEEE/RSJ International Conference on Intelligent Robots and Systems : 07/07/1992 - 10/07/1992
Godkänd; 1992; 20061125 (ysko)Available from: 2016-09-30 Created: 2016-09-30Bibliographically approved

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