Abstract
In this work we consider a mobile robot with a laser range finder. Our goal is to find the best set of lines from the sequence of points given by a laser scan. We propose a probabilistic method to deal with noisy laser scans, in which the noise is not properly modeled using a Gaussian Distribution. An experimental comparison with a very well known method (SMSM), using a mobile robot simulator and a real mobile robot, shows the robustness of the new method. The new method is also fast enough to be used in real time.
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© 2006 Springer-Verlag Berlin Heidelberg
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Romero, L., Lara, C. (2006). A Probabilistic Approach to Build 2D Line Based Maps from Laser Scans in Indoor Environments. In: Martínez-Trinidad, J.F., Carrasco Ochoa, J.A., Kittler, J. (eds) Progress in Pattern Recognition, Image Analysis and Applications. CIARP 2006. Lecture Notes in Computer Science, vol 4225. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11892755_76
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DOI: https://doi.org/10.1007/11892755_76
Publisher Name: Springer, Berlin, Heidelberg
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