Mobile robot pose estimation using laser scan matching based on Fourier Transform

摘要

Pose estimation problem is a key problem for a mobile robot system. In this paper, a new pose estimation method for the mobile robot is presented based on 2D (two dimensional) laser range finder. To get the increments between reference scan and current scan, a scan matching algorithm based on 1D Fourier Transform is presented. It is different from other methods. Because of 1D Fourier-transform-based and point-point matching, it is no need to extract features from environment and have high anti-noise and low computational cost. To get the pose of the mobile robot in the world coordinates, a pose estimation model is proposed. Finally, the proposed method is tested on the experimental platform in an indoor environment. The experimental results demonstrated its effectiveness.