Cart (Loading....) | Create Account
Close category search window
 

Improved Data Association for ICP-based Scan Matching in Noisy and Dynamic Environments

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Rodriguez-Losada, D. ; Univ. Politecnica de Madrid ; Minguez, J.

This paper presents a technique to improve the data association in the iterative closest point based scan matching. The method is based on a distance-filter constructed on the basis of an analysis of the set of solutions produced by the associations in the sensor configuration space. This leads to a robust strategy to filter all the associations that do not explain the principal motion of the scan (due to noise in the sensor, large odometry errors, spurious, occlusions or dynamic features for example). The experimental results suggest that the improvement of the data association leads to more robust and faster methods in the presence of wrong correspondences.

Published in:

Robotics and Automation, 2007 IEEE International Conference on

Date of Conference:

10-14 April 2007

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.