DMCA
Force Field Based n-Scan Alignment
| Citations: | 2 - 1 self |
BibTeX
@MISC{Lakaemper_forcefield,
author = {Rolf Lakaemper and Nagesh Adluru and Longin Jan Latecki},
title = {Force Field Based n-Scan Alignment},
year = {}
}
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Abstract
Abstract — We present a force field based approach for simultaneous alignment of multiple laser scans in robot mapping. It avoids sensitive behavior to wrong data associations and sparse sensing, which are the main challenges e.g. in multi robot mapping under the constraints given in autonomous search and rescue robotics. The presented algorithm solves the alignment problem utilizing a gradient descent approach motivated by physics, but exchanges laws of physics with constraints given by human perception. Experiments on different real world data sets show the successful application of the algorithm. Index Terms — Scan alignment, force fields, SLAM I.
Keyphrases
force field n-scan alignment human perception multiple laser scan sensitive behavior sparse sensing different real world data set data association multi robot index term scan alignment rescue robotics simultaneous alignment alignment problem robot mapping successful application exchange law presented algorithm gradient descent approach main challenge autonomous search
