Indoor and outdoor localization for fast mobile robots

  title={Indoor and outdoor localization for fast mobile robots},
  author={Kai Lingemann and Hartmut Surmann and Andreas N{\"u}chter and Joachim Hertzberg},
  journal={2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)},
  pages={2185-2190 vol.3}
This paper describes a novel, laser-based approach for tracking the pose of a high-speed mobile robot. The algorithm is outstanding in terms of accuracy and computational time, being 33 times faster than real time. The efficiency is achieved by a closed form solution for the matching of two lasers scans, the use of natural landmarks and fast linear filters. The implemented algorithm is evaluated with the high-speed robot Kurt3D (4 m/s), and compared to standard scan matching methods in indoor… CONTINUE READING
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