%0 Journal Article
%T Research on Laser Radar Based Real-Time Pose Estimation for Mobile Robots<br>基于激光雷达的移动机器人实时位姿估计方法研究
%A YANG Ming DONG Bin WANG Hong ZHANG Bo Helder Araujo
%A <br>杨明
%A 董斌
%A 王宏
%A 张钹
%A Helder Araújo
%J 自动化学报
%D 2004
%I 
%X Pose estimation is a key issue in mobile robots and important to moving objects tracking, robot navigation, map building, etc. A real-time pose estimation method using 2D range data from a laser radar is presented, which consists of iterative tangent weighted closest point and Hough transform bat ed tangent angle histogram algorithms to overcome problems with past methods, such as local minimum, aperture-like, high computation problem, etc. This method has been tested on both synthetic and real range data collected in outdoor environment. Experimental results demonstrate its high accuracy, low computation, wide applicability and high robustness to aperture-like problem, occlusion and noises.
%K Pose estimation
%K angle histogram
%K terative closest point(ICP)
%K tangent information
%K mobile robots
%K laser radar<br>位姿估计
%K 角度直方图
%K 迭代最近点
%K 切线信息
%K 移动机器人
%K 激光雷达
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=234FA266B0292EA5&yid=D0E58B75BFD8E51C&vid=340AC2BF8E7AB4FD&iid=94C357A881DFC066&sid=DC06EBDBAF4E06D3&eid=F4C2D192FB73A21F&journal_id=0254-4156&journal_name=自动化学报&referenced_num=0&reference_num=6