Laser Based Position Acquisition and Tracking in an Indoor Environment
Patric
Jensfelt and Henrik I. Christensen
Abstract
In this paper we present a technique for acquisition and tracking of
the pose of a mobile robot with a laser scanner. The position and orientation
of the walls are the basis for estimating the pose of the robot.
Validation gates filter out data that is believed to belong to the
walls. For finding
the parameters of the walls a two stage process with a local Range
Weighted Hough Transform and a least squares method are implemented.
Experimental results are shown to argue for the performance of the method.
BibTeX Entry:
@InProceedings{Jensfelt98,
author = {Patric Jensfelt and Henrik Christensen},
title = {Laser Based Position Acquisition and Tracking in an Indoor Environment},
booktitle = In Proc. of International Symposium on Robotics and Automation,
pages = {?--?},
year = 1998,
volume = 1,
address = {Saltillo, Coahuila, Mexico},
month = dec,
organization = "IEEE"
}
Download: ps.gz (783k)