Mapping of Rescue Environment Based on NDT Scan Matching
Jinliang Li, Youxia Sun
Available Online March 2013.
- https://doi.org/10.2991/iccsee.2013.766How to use a DOI?
- Rescue robots, Scan matching, SLAM, Normal distribution transform
- 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.
- 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 - Proceedings 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 -