Laser Based Localization Techniques for Indoor Mobile Robots

摘要

The localization problem in indoor environment based on LIDAR measurements is analyzed in this paper. Practical aspects of the localization are discussed including the implementations of the state estimation and registration algorithms. The localization framework developed is sufficient generic to be used in a variety of other autonomous vehicles. The results of the proposed navigation algorithms demonstrate a reliable and accurate position estimation for autonomous vehicles operating in a variety of environments.