| Volume 26 Issue 10 - Publication Date: 1 September 2007 |
| |
| Fast Laser Scan Matching using Polar Coordinates |
| |
| A. Diosi and L. Kleeman ARC Centre for Perceptive and Intelligent Machines
in Complex Environments, Department of Electrical
and Computer Systems Engineering, Monash University,
Clayton, VIC 3168, Australia |
| |
| In this paper a novel Polar Scan Matching (PSM) approach is described
that works in the laser scanner’s polar coordinate system,
therefore taking advantage of the structure of the laser measurements
and eliminating the need for an expensive search for corresponding
points in other scan match approaches. PSM belongs to the family of
point to point scan matching approaches with its matching bearing
association rule. The performance of PSM is thoroughly evaluated in
a simulated experiment, in experiments using ground truth, in experiments
aimed at determining the area of convergence and in a SLAM
experiment. All results are compared to results obtained using an iterated
closest point (ICP) scan matching algorithm implementation.
It is found that PSM is superior to the ICP implementation in processing
speed and that PSM converges to a correct solution from a larger
range of initial positions. |
| |
| Multimedia Key |
= Video |
 = Data |
= Code |
= Image |
|
| |
