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ICRA
2005
IEEE

Fast Circular Landmark Detection for Cooperative Localisation and Mapping

10 years 3 months ago
Fast Circular Landmark Detection for Cooperative Localisation and Mapping
— Map building through cooperative localisation (co-location) using circular geometric targets and a SICK laser range scanner is investigated. The tenet of co-location is circle detection in laser range data. Two methods for circle detection, a Range Weighted Circular Hough Transform (RWCHT) and a novel squared-residual voting strategy are compared and their performance assessed. The custom squared-residual voting strategy outperforms the RWCHT in all respects and is subsequently used for localisation and map building. The results include robust continuous localisation at speeds of 0.2m/s with 98% of scan frames used and an error of less than 0.03m. This localisation accuracy helps build maps of 96% quality and occupancy grids of cluttered environments despite the presence of distractors.
Julian Ryde, Huosheng Hu
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Julian Ryde, Huosheng Hu
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