Laser Based Pose Tracking
Patric
Jensfelt and Henrik I. Christensen
Abstract
The trend in localization is towards using more and more detailed models of
the world. Our aim has been to answer the question ``How simple a model
can be used to provide and maintain pose information in an in-door setting?''.
In this paper a Kalman filter based method for continuous position updating
using a laser scanner is presented.
By updating the position at a high frequency the matching problem becomes
tractable and outliers can effectively be filtered out by means of validation
gates. Presented experimental results show that the method performs
very well in an in-door environment.
BibTeX Entry:
@InProceedings{Jensfelt99a,
author = {Patric Jensfelt and Henrik Christensen},
title = {Laser Based Pose Tracking},
booktitle = In Proc. of International Conference on Robotics and
Automation,
year = 1999,
address = {Detroit, Michigan, USA},
month = may,
pages = {2994--3000},
organization = "IEEE"
}
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