Polar Metric-Weighted Norm-Based Scan Matching for Robot Pose Estimation
A novel point-to-point scan matching approach is proposed to address pose estimation and map building issues of mobile robots. Polar Scan Matching (PSM) and Metric-Based Iterative Closest Point (Mb-ICP) are usually employed for point-to-point scan matching tasks. However, due to the facts that PSM c...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2016-01-01
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| Series: | Discrete Dynamics in Nature and Society |
| Online Access: | http://dx.doi.org/10.1155/2016/2028414 |
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| author | Guanglei Huo Lijun Zhao Ke Wang Ruifeng Li Jianqiang Li |
| author_facet | Guanglei Huo Lijun Zhao Ke Wang Ruifeng Li Jianqiang Li |
| author_sort | Guanglei Huo |
| collection | DOAJ |
| description | A novel point-to-point scan matching approach is proposed to address pose estimation and map building issues of mobile robots. Polar Scan Matching (PSM) and Metric-Based Iterative Closest Point (Mb-ICP) are usually employed for point-to-point scan matching tasks. However, due to the facts that PSM considers the distribution similarity of polar radii in irrelevant region of reference and current scans and Mb-ICP assumes a constant weight in the norm about rotation angle, they may lead to a mismatching of the reference and current scan in real-world scenarios. In order to obtain better match results and accurate estimation of the robot pose, we introduce a new metric rule, Polar Metric-Weighted Norm (PMWN), which takes both rotation and translation into account to match the reference and current scan. For robot pose estimation, the heading rotation angle is estimated by correspondences establishing results and further corrected by an absolute-value function, and then the geometric property of PMWN called projected circle is used to estimate the robot translation. The extensive experiments are conducted to evaluate the performance of PMWN-based approach. The results show that the proposed approach outperforms PSM and Mb-ICP in terms of accuracy, efficiency, and loop closure error of mapping. |
| format | Article |
| id | doaj-art-be6157f3fda0495a8860c7c164a16365 |
| institution | Kabale University |
| issn | 1026-0226 1607-887X |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Discrete Dynamics in Nature and Society |
| spelling | doaj-art-be6157f3fda0495a8860c7c164a163652025-02-03T01:09:42ZengWileyDiscrete Dynamics in Nature and Society1026-02261607-887X2016-01-01201610.1155/2016/20284142028414Polar Metric-Weighted Norm-Based Scan Matching for Robot Pose EstimationGuanglei Huo0Lijun Zhao1Ke Wang2Ruifeng Li3Jianqiang Li4State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaSchool of Software Engineering, Beijing University of Technology, Beijing 100871, ChinaA novel point-to-point scan matching approach is proposed to address pose estimation and map building issues of mobile robots. Polar Scan Matching (PSM) and Metric-Based Iterative Closest Point (Mb-ICP) are usually employed for point-to-point scan matching tasks. However, due to the facts that PSM considers the distribution similarity of polar radii in irrelevant region of reference and current scans and Mb-ICP assumes a constant weight in the norm about rotation angle, they may lead to a mismatching of the reference and current scan in real-world scenarios. In order to obtain better match results and accurate estimation of the robot pose, we introduce a new metric rule, Polar Metric-Weighted Norm (PMWN), which takes both rotation and translation into account to match the reference and current scan. For robot pose estimation, the heading rotation angle is estimated by correspondences establishing results and further corrected by an absolute-value function, and then the geometric property of PMWN called projected circle is used to estimate the robot translation. The extensive experiments are conducted to evaluate the performance of PMWN-based approach. The results show that the proposed approach outperforms PSM and Mb-ICP in terms of accuracy, efficiency, and loop closure error of mapping.http://dx.doi.org/10.1155/2016/2028414 |
| spellingShingle | Guanglei Huo Lijun Zhao Ke Wang Ruifeng Li Jianqiang Li Polar Metric-Weighted Norm-Based Scan Matching for Robot Pose Estimation Discrete Dynamics in Nature and Society |
| title | Polar Metric-Weighted Norm-Based Scan Matching for Robot Pose Estimation |
| title_full | Polar Metric-Weighted Norm-Based Scan Matching for Robot Pose Estimation |
| title_fullStr | Polar Metric-Weighted Norm-Based Scan Matching for Robot Pose Estimation |
| title_full_unstemmed | Polar Metric-Weighted Norm-Based Scan Matching for Robot Pose Estimation |
| title_short | Polar Metric-Weighted Norm-Based Scan Matching for Robot Pose Estimation |
| title_sort | polar metric weighted norm based scan matching for robot pose estimation |
| url | http://dx.doi.org/10.1155/2016/2028414 |
| work_keys_str_mv | AT guangleihuo polarmetricweightednormbasedscanmatchingforrobotposeestimation AT lijunzhao polarmetricweightednormbasedscanmatchingforrobotposeestimation AT kewang polarmetricweightednormbasedscanmatchingforrobotposeestimation AT ruifengli polarmetricweightednormbasedscanmatchingforrobotposeestimation AT jianqiangli polarmetricweightednormbasedscanmatchingforrobotposeestimation |