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Алдошкин, Д. Н.
Ямских, Т. Н.
Царев, Р. Ю.
2019-07-01T07:30:11Z
2019-07-01T07:30:11Z
2018-05
Алдошкин, Д. Н. Mobile robot motion estimation using Hough transform [Текст] / Д. Н. Алдошкин, Т. Н. Ямских, Р. Ю. Царев // Journal of Physics: Conference Series. — 2018. — Т. 1015 (№ 3).
17426588
http://iopscience.iop.org/article/10.1088/1742-6596/1015/3/032161/meta
https://elib.sfu-kras.ru/handle/2311/111511
This paper proposes an algorithm for estimation of mobile robot motion. The geometry of surrounding space is described with range scans (samples of distance measurements) taken by the mobile robot's range sensors. A similar sample of space geometry in any arbitrary preceding moment of time or the environment map can be used as a reference. The suggested algorithm is invariant to isotropic scaling of samples or map that allows using samples measured in different units and maps made at different scales. The algorithm is based on Hough transform: it maps from measurement space to a straight-line parameters space. In the straight-line parameters, space the problems of estimating rotation, scaling and translation are solved separately breaking down a problem of estimating mobile robot localization into three smaller independent problems. The specific feature of the algorithm presented is its robustness to noise and outliers inherited from Hough transform. The prototype of the system of mobile robot orientation is described.
Mobile robot localization
Mobile robot motion
Robot orientation
Rotation
scaling and translations
Mobile robot motion estimation using Hough transform
Journal Article
Journal Article Preprint
28.23.27
2019-07-01T07:30:11Z
10.1088/1742-6596/1015/3/032161
Институт космических и информационных технологий
Кафедра информатики
Journal of Physics: Conference Series
Q3


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