Publication detail

Simultaneous Localization and Mapping via Scan Matching

VĚCHET, S. KREJSA, J. ONDROUŠEK, V.

Original Title

Simultaneous Localization and Mapping via Scan Matching

Type

book chapter

Language

English

Original Abstract

This issue presents method of Potential-based Scan Matching solves two issues at once. First the correct location of the robot is found, secondly the local map is constructed. The method does not require any odometry data. However, when such data are present, it could be used as a starting point for the minimization of the match function, thus reducing the search time and helping to avoid misleading search in the parameters distant to the minimum.

Keywords

robot, walking gait, A-star, beam search

Authors

VĚCHET, S.; KREJSA, J.; ONDROUŠEK, V.

RIV year

2007

Released

15. 12. 2007

Publisher

Brno University of Technology

Location

Brno

ISBN

978-80-214-3559-9

Book

Simulation Modelling of Mechatronic Systems III

Edition

mechatronics

Edition number

1

Pages from

131

Pages to

136

Pages count

6

BibTex

@inbook{BUT55560,
  author="Stanislav {Věchet} and Jiří {Krejsa} and Vít {Ondroušek}",
  title="Simultaneous Localization and Mapping via Scan Matching",
  booktitle="Simulation Modelling of Mechatronic Systems III",
  year="2007",
  publisher="Brno University of Technology",
  address="Brno",
  series="mechatronics",
  edition="1",
  pages="131--136",
  isbn="978-80-214-3559-9"
}