%0 Journal Article
%T A SLAM Approach by Combining ICP Algorithm and Particle Filter<br>基于ICP算法和粒子滤波的未知环境地图创建
%A ZHU Ji-Hua ZHENG Nan-Ning YUAN Ze-Jian HE Yong-Jian
%A <br>祝继华
%A 郑南宁
%A 袁泽剑
%A 何永健
%J 自动化学报
%D 2009
%I 
%X For building the consistent grid-based map of mobile robot only with laser range finder and odometer, this paper presents a novel algorithm that combines iterative closest point (ICP) algorithm with Rao-Blackwellized particle filter. It employs ICP algorithm to register one range scan to a previous scan so as to compute the relative robot position, then uses the result to replace the odometer reading and improve the proposal distribution. With an improved resampling method, the number of samples required is seriously reduced. Simulations on the real robot data sets illustrate the superior performance of our approach.
%K Simultaneous localization and mapping (SLAM)
%K iterative closest point (ICP) algorithm
%K Rao-Blackwellized particle filter
%K proposal distribution<br>同时定位与地图创建
%K 最近点迭代法
%K Rao-Blackwellized粒子滤波
%K 建议分布函数
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=2FC9A32B9892A25141CC043CB9580FC0&yid=DE12191FBD62783C&vid=6209D9E8050195F5&iid=5D311CA918CA9A03&sid=DFBBF6D86DD97199&eid=0EFDF9DD0F63E842&journal_id=0254-4156&journal_name=自动化学报&referenced_num=0&reference_num=0