标题：Study on the localization for a rescue robot based on laser scan matching
作者：Li, Jinliang ;Bao, Jihua ;Yu, Yan
作者机构：[Li, Jinliang ;Bao, Jihua ;Yu, Yan ] School of Mechanical and Electronics Engineering, Shandong University of Science and Technology, Qingdao 266510, 更多
会议名称：2010 International Conference on Machine Vision and Human-Machine Interface, MVHI 2010
会议日期：April 24, 2010 - April 25, 2010
来源：2010 International Conference on Machine Vision and Human-Machine Interface, MVHI 2010
摘要：This paper studied the localization problem for a rescue robot based on laser scan matching and extended Kalman filtering (EKF). Scan matching method based on normal distribution transform (NDT) can avoid hard feature extraction problem by estimation of the probability distribution of laser scan data and localization can be achieved using correlation of the NDT. Based on NDT scan matching, the NDT-EKF algorithm has been proposed, which realizes fast and precise localization in rescue environment by fusing odometery data and scan matching together. The NDT-EKF algorithm has been extensively tested and experimental results show its effectiveness and robustness. © 2010 IEEE.