A Novel Scan Matching Method for Mobile Robot Based on Phase Only Matched Filtering*

2018 ◽  
Author(s):  
Heng Yu ◽  
Yadan Zeng ◽  
Houde Dai
Keyword(s):  
Mobile Robot ◽  
Matched Filtering ◽  
Matching Method ◽  
Scan Matching

3-D Scan Matching for Mobile Robot Localization over Rough Terrain

2019 ◽  
Vol 139 (9) ◽  
pp. 1041-1050
Author(s):  
Hiroyuki Nakagomi ◽  
Yoshihiro Fuse ◽  
Hidehiko Hosaka ◽  
Hironaga Miyamoto ◽  
Takashi Nakamura ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Rough Terrain ◽  
Robot Localization ◽  
Scan Matching ◽  
Mobile Robot Localization

Lidar Scan-Matching for Mobile Robot Localization

2009 ◽  
Vol 9 (1) ◽  
pp. 27-33 ◽  
Author(s):  
Xia Yuan ◽  
Chun-Xia Zhao ◽  
Zhen-Min Tang
Keyword(s):  
Mobile Robot ◽  
Robot Localization ◽  
Scan Matching ◽  
Mobile Robot Localization

scholarly journals 3D Scan matching for mobile robot localization over rough terrain

2019 ◽  
Vol 209 (3-4) ◽  
pp. 14-25
Author(s):  
Hiroyuki Nakagomi ◽  
Yoshihiro Fuse ◽  
Hidehiko Hosaka ◽  
Hironaga Miyamoto ◽  
Takashi Nakamura ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Rough Terrain ◽  
Robot Localization ◽  
Scan Matching ◽  
3D Scan ◽  
Mobile Robot Localization

Enhancement of Scan Matching Using an Environmental Magnetic Field

2018 ◽  
Vol 30 (4) ◽  
pp. 532-539 ◽  
Author(s):  
Sam Ann Rahok ◽  
Hirohisa Oneda ◽  
Taichi Nakayama ◽  
Kazumichi Inoue ◽  
Shigeji Osawa ◽  
...  
Keyword(s):  
Magnetic Field ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Geomagnetic Field ◽  
Unique Property ◽  
Scan Matching ◽  
Localization Method ◽  
Robust Localization

Scan matching is one of the most reliable localization methods for mobile robots in known environments. However, an unexpected shift in posture remains its major issue. A method that uses an environmental magnetic field, a magnetic field that occurs in the environment, is presented to address this issue. The environmental magnetic field, which mostly refers to the geomagnetic field, is rarely changed by time. This unique property provides a means to enhance scan matching to provide a more robust localization method by using it to compensate the mobile robot’s pose. In this study, we describe how to compensate the mobile robot’s pose with the environmental magnetic field. Through experiments, we show that a mobile robot with the proposed method can recover, even if irregular changes in posture occur during the navigation.

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