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Terrain Inclination Aided Three- Dimensional Localization and Mapping for an Outdoor Mobile Robot : Localizzazione tridimensionale assistita dall'inclinazione del terreno e mappaggio di un robot mobile per esterni, in: International Journal of Advanced Robotic Systems
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Autore Zhu, Xiaorui; Qiu, Chunxin; Minor, Mark A.
Pubblicato  InTech Open Access Publisher, 2013
edizione  
Volume  
ISBN
Abstract A new 3D localization and mapping technique
with terrain inclination assistance is proposed in this
paper to allow a robot to identify its location and build a
global map in an outdoor environment. The Iterative
Closest Points (ICP) algorithm and terrain inclinationbased
localization are combined together to achieve
accurate and fast localization and mapping. Inclinations
of the terrains the robot navigates are used to achieve
local localization during the interval between two laser
scans. Using the results of the above localization as the
initial condition, the ICP algorithm is then applied to
align the overlapped laser scan maps to update the
overhanging obstacles for building a global map of the
surrounding area. Comprehensive experiments were
carried out for the validation of the proposed 3D
localization and mapping technique. The experimental
results show that the proposed technique could reduce
time consumption and improve the accuracy of the
performance.
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Articoli a Rivista
2000 ed oltre
Superordinate work
 
no fulltext found International Journal of Advanced Robotic Systems
Autore: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Pubblicato: 2004
Linked items
Documents: International Journal of Advanced Robotic Systems
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DMG-Lib FaviconDMG-Lib https://www.dmg-lib.org/dmglib/handler?docum=32418009
Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_32418009.html
PDF FaviconPDF  Terrain Inclination Aided Three- Dimensional Localization and Mapping for an Outdoor Mobile Robot
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Administrative information
Time of publication 2013
License information Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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