Proceedings of the 2nd International Conference on Computer Science and Electronics Engineering (ICCSEE 2013)

Mapping of Rescue Environment Based on NDT Scan Matching

Authors
Jinliang Li, Youxia Sun
Corresponding Author
Jinliang Li
Available Online March 2013.
DOI
https://doi.org/10.2991/iccsee.2013.766How to use a DOI?
Keywords
Rescue robots, Scan matching, SLAM, Normal distribution transform
Abstract
This paper studied the mapping problem for rescue robots based on laser scan matching and extend Kalman filtering (EKF). Because of the non-structural rescue environments, it is hard to extract typical features. Scan matching method based on normal distribution transform (NDT) can avoid the hard feature extraction problem by estimation of the probability distribution of laser scan data. By fusing NDT scan matching with EKF framework, the NDT-EKF SLAM algorithm was proposed, which can effectively and precisely build maps for rescue environment. Experiment results show that NDT-EKF SLAM algorithm is more precise than algorithms based solely on scan-matching.
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Proceedings
Conference of the 2nd International Conference on Computer Science and Electronics Engineering (ICCSEE 2013)
Part of series
Advances in Intelligent Systems Research
Publication Date
March 2013
ISBN
978-90-78677-61-1
ISSN
1951-6851
DOI
https://doi.org/10.2991/iccsee.2013.766How to use a DOI?
Open Access
This is an open access article distributed under the CC BY-NC license.

Cite this article

TY  - CONF
AU  - Jinliang Li
AU  - Youxia Sun
PY  - 2013/03
DA  - 2013/03
TI  - Mapping of Rescue Environment Based on NDT Scan Matching
BT  - Conference of the 2nd International Conference on Computer Science and Electronics Engineering (ICCSEE 2013)
PB  - Atlantis Press
SP  - 3045
EP  - 3048
SN  - 1951-6851
UR  - https://doi.org/10.2991/iccsee.2013.766
DO  - https://doi.org/10.2991/iccsee.2013.766
ID  - Li2013/03
ER  -