Real-time Pose Estimation by Using Laser Scans for Mobile Robot
Bo Qin · Journal of Academy of Armored Force Engineering · 2011
This paper describes a real-time pose estimation method using laser scans for mobile robot.Based on the character-matching of obstacles clustered from environment data,the position and posture of robot are estimated by optimizing the direction of the registered obstacles between the position sequences.The contrastive experiments with ICP method show that the new method can accomplish the task effectively and more efficiently.