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Feature-to-Feature based Laser Scan Matching in Polar Coordinates with Application to Pallet Recognition

Authors
Publisher
Elsevier Ltd
Publication Date
Volume
15
Identifiers
DOI: 10.1016/j.proeng.2011.08.897
Keywords
  • Pallet Recognition
  • Feature-To-Feature
  • Laser Scan Matching
  • Polar Coordinates
  • Autonomous Mobile Robot

Abstract

Abstract This paper presents a novel method called feature-to-feature based polar scan matching (FFPSM) for pallet recognition. Since FFPSM works in the laser scanner's polar coordinates, the transformation from polar coordinate to Cartesian coordinate is eliminated and some operations are simplified by taking the advantage of the structure of the laser measurements. The method is evaluated in the simulated laser scans. The research results show that the recognition ratio is the same but the recognition velocity is faster than previous works

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