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International Journal of Intelligent Systems and Applications(IJISA)

ISSN: 2074-904X (Print), ISSN: 2074-9058 (Online)

Published By: MECS Press

IJISA Vol.5, No.11, Oct. 2013

Laser Scan Matching by FAST CVSAC in Dynamic Environment

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Author(s)

Md. Didarul Islam, S. M. Taslim Reza, Jia Uddin, Emmanuel Oyekanlu

Index Terms

Scan Matching, Localization, Iterative Closest Point (ICP), Random Sample, Consensus (RANSAC) Algorithm

Abstract

Localization and mapping are very important for safe movement of robots. One possible way to assist with this functionality is to use laser scan matching. This paper describes a method to implement this functionality. It is based on well-known random sampling and consensus (RANSAC) and iterative closest point (ICP). The proposed algorithm belongs to the class of point to point scan matching approach with its matching criteria rule. The performance of the proposed algorithm is examined in real environment and found applicable in real-time application.

Cite This Paper

Md. Didarul Islam, S. M. Taslim Reza, Jia Uddin, Emmanuel Oyekanlu,"Laser Scan Matching by FAST CVSAC in Dynamic Environment", International Journal of Intelligent Systems and Applications(IJISA), vol.5, no.11, pp.11-18, 2013.DOI: 10.5815/ijisa.2013.11.02

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