Abstract
Pose estimation is a key component of a mobile robot system. In this paper, a new pose estimation method for mobile robot is developed based on 2D laser radar. Firstly, scan data points in each frame are divided into clusters. Then the current scan and the previous scan are matched according to the clusters to obtain two types of match clusters, holonomic matches and nonholonomic. For a pair of holonomic match clusters, their both pairs of endpoints and centroids are considered as match points, and for nonholonomic match clusters, only endpoints are considered as match points. Finally, RANSAC algorithm is used to remove outliers and nonlinear least squares method is adopted to estimate the motion parameters of the mobile robot. Experimental results demonstrate that the approach achieves satisfactory performance in dynamic indoor environments and the results are compared with angle histogram algorithm.
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Xu, Y., Zhang, C., Bao, W., Su, L., Wang, M. (2008). A Robust Pose Estimation Algorithm for Mobile Robot Based on Clusters. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_107
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DOI: https://doi.org/10.1007/978-3-540-88513-9_107
Publisher Name: Springer, Berlin, Heidelberg
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