Mapping of Rescue Environment Based on NDT Scan Matching

DOI

10.2991/iccsee.2013.766How to use a DOI?

Keywords

Rescue robots, Scan matching, SLAM, Normal distribution transform

Abstract

This paper studied the mapping problem for rescue robots based on laser scan matching and extend Kalman filtering (EKF). Because of the non-structural rescue environments, it is hard to extract typical features. Scan matching method based on normal distribution transform (NDT) can avoid the hard feature extraction problem by estimation of the probability distribution of laser scan data. By fusing NDT scan matching with EKF framework, the NDT-EKF SLAM algorithm was proposed, which can effectively and precisely build maps for rescue environment. Experiment results show that NDT-EKF SLAM algorithm is more precise than algorithms based solely on scan-matching.

Copyright

© 2013, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Jinliang Li
AU  - Youxia Sun
PY  - 2013/03
DA  - 2013/03
TI  - Mapping of Rescue Environment Based on NDT Scan Matching
BT  - Proceedings of the 2nd International Conference on Computer Science and Electronics Engineering (ICCSEE 2013)
PB  - Atlantis Press
SP  - 3045
EP  - 3048
SN  - 1951-6851
UR  - https://doi.org/10.2991/iccsee.2013.766
DO  - 10.2991/iccsee.2013.766
ID  - Li2013/03
ER  -