Optimal mobile robot pose estimation using geometrical maps

被引：17

作者：

Borges, GA ^{[1
]}

Aldon, MJ ^{[1
]}

机构：

[1] Lab Informat Robot & Microelect Montpellier, UMR CNRS UM2, Robot Dept, F-55060 Montpellier, France

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2002年 / 18卷 / 01期

关键词：

heterogeneous features; nonlinear optimization; optimal 2-D pose estimation; weighted least-squares;

D O I：

10.1109/70.988978

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We propose a weighted least-squares (WLS) algorithm for optimal pose estimation of mobile robots using geometrical maps as environment models. Pose estimation is achieved from feature correspondences in a nonlinear framework without linearization. The proposed WLS approach fields optimal estimates in the least-squares sense, is applicable to heterogencous geometrical features decomposed in points and lines, and has an O(N) computation time.

引用

页码：87 / 94

页数：8

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