Fast Keypoint Features From Laser Scanner for Robot Localization and Mapping

@article{Kallasi2016FastKF,
  title={Fast Keypoint Features From Laser Scanner for Robot Localization and Mapping},
  author={Fabjan Kallasi and Dario Lodi Rizzini and Stefano Caselli},
  journal={IEEE Robotics and Automation Letters},
  year={2016},
  volume={1},
  pages={176-183}
}
Detecting features in sensor measurements and distinguishing among them is an important capability for robot localization and navigation. Despite the wide diffusion of range finders, there are few works on keypoint features for 2-D LIDAR and there is potential for improvement over the existing methods. This letter proposes two novel keypoint detectors for the stable detection of interest points in laser measurements and two descriptors for robust associations. The features defined by combining… CONTINUE READING
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