We develop two algorithms to register a range scan to a previous scan so as to compute relative robot positions in an unknown environment. The first algorithm is used on matching tangent lines defined on two scans and minimizing a distance function. The second algorithm iteratively establishes correspondences between points in the two scans and then solves the point-to-point least-squares problem to compute the relative pose. Our methods avoid the use of localized features. They work in curved environments and can handle partial occlusions.<>
Robot pose estimation in unknown environments by matching 2D range scans
1994-01-01
369243 byte
Conference paper
Electronic Resource
English
Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans
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