6 search results - page 1 / 2 » Improved Data Association for ICP-based Scan Matching in Noi... |
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— This paper presents a technique to improve the data association in the Iterative Closest Point [2] based scan matching. The method is based on a distance-filter constructed on...
RSS
2007
13 years 6 months ago
2007
— Matching laser range scans observed at different points in time is a crucial component of many robotics tasks, including mobile robot localization and mapping. While existing t...
CVPR
2006
IEEE
14 years 7 months ago
2006
IEEE
Most of visual tracking algorithms have been achieved by matching-based searching strategies or detection-based data association algorithms. In this paper, our objective is to ana...
RAS
2007
13 years 4 months ago
2007
This paper presents Scan-SLAM, a new generalisation of simultaneous localisation and mapping (SLAM). SLAM implementations based on extended Kalman filter (EKF) data fusion have t...
ICRA
2010
IEEE
13 years 2 months ago
2010
IEEE
The iterative closest points (ICP) algorithm is widely used for ego-motion estimation in robotics, but subject to bias in the presence of outliers. We propose a random sample conse...