标题：Localization for a rescue robot based onNDT scan matching
作者：Li Jinliang; Bao Jihua; Yu Yan
作者机构：[Li Jinliang; Bao Jihua; Yu Yan] Shandong Univ Sci & Technol, Sch Mech & Elect Engn, Qingdao, Peoples R China.
会议名称：International Conference on Advanced Measurement and Test (AMT 2010)
会议日期：MAY 15-16, 2010
来源：ADVANCED MEASUREMENT AND TEST, PARTS 1 AND 2
关键词：Rescue robots; Robot localization; Scan Matching; Normal distribution; transform
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 (NOT) 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 NOT scan matching, the NDT-EKF algorithm is 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.