Efficient global scan matching using saliency-based scan point resampling

This paper presents a method of improving the performance of global scan matching with a laser range finder using saliency-based scan point resampling. The proposed method calculates the saliency of each scan point according to the amount of information the scan point has, or the length of the line...

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Bibliographic Details
Main Author: Tomono, M.
Format: Conference Proceeding
Language:English
Subjects:
Curve fitting
Degradation
Feature extraction
Global localization
Laser theory
Map building
Matched filters
Mobile robots
Paper technology
Robot sensing systems
Scan matching
Shape
Simultaneous localization and mapping
SLAM
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Description
Summary:This paper presents a method of improving the performance of global scan matching with a laser range finder using saliency-based scan point resampling. The proposed method calculates the saliency of each scan point according to the amount of information the scan point has, or the length of the line segment on which the scan point lies. Based on the saliency, the method preserves important scan points and discards redundant scan points. Experimental results show that the proposed method improves the efficiency and accuracy of global scan matching without degrading matching rates.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2005.1545180