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Incremental closed-form solution to globally consistent 2D range scan mapping with two-step pose estimation

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4 Author(s)
Martinez, J.L. ; Dipt. Ing. de Sist. y Autom., Univ. de Malaga, Malaga, Spain ; Morales, J. ; Mandow, A. ; Garcia-Cerezo, A.

This paper presents a simplification of the Lu and Milios work [1] for globally consistent Simultaneous Localization And Mapping (SLAM) with two-dimensional (2D) scan registration. The proposed method is based on global two-step (orientation-position) pose estimation. This approach reduces the computational effort since it represents a closed-form solution that admits an incremental updating procedure. Successful simulation and experimental tests with the tracked mobile robot Auriga-¿ with an onboard laser rangefinder in indoors are presented.

Published in:

Advanced Motion Control, 2010 11th IEEE International Workshop on

Date of Conference:

21-24 March 2010