학술논문
Position estimation and tracking using optical range data
Document Type
Conference
Author
Source
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Intelligent robots and systems Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on. 3:2172-2177 vol.3 1993
Subject
Language
Abstract
With the use of a scanning optical ranger, a dense map of an environment has been constructed. From this, line segment targets are extracted and matched against an a priori map to obtain observations for an extended Kalman filter. This filter is then able to update predictions of an autonomous guided vehicle's position (made using odometry) in real time, offering high-speed position estimation using inexpensive sensing techniques.