Feature-Based Laser Scan Matching For Accurate and High Speed Mobile Robot Localization.

摘要

This paper introduces an accurate and high speed pose tracking method for mobile robots based on matching of extracted features from consecutive scans. The feature extraction algorithm proposed in this paper uses a global information of the whole scan data and local information around feature points. Uncertainty of each feature is represented using covariance matrices determined due to observation and quantization error. Taking into account each feature's uncertainty in pose shift calculation leads to an accurate estimation of robot pose. Experiments with low range URG_X002 laser range scanner illustrate the effectiveness of the proposed method for mobile robot localization.