|4/2016 - 3|
A Novel Keep Zero as Zero Polar Correlation Technique for Mobile Robot Localization using LIDARSIDHARTHAN, R. K. , KANNAN, R. , SRINIVASAN, S. , BALAS, M. M.
|Click to see author's profile on SCOPUS, IEEE Xplore, Web of Science|
|Download PDF (1,396 KB) | Citation | Downloads: 359 | Views: 564|
correlation, mobile robots, pattern matching, sensor fusion, simultaneous localization and mapping
systems(9), slam(9), scan(8), robotics(8), matching(8), fast(6), data(6), zhang(5), localization(5), laser(5)
Blue keywords are present in both the references section and the paper title.
About this article
Date of Publication: 2016-11-30
Volume 16, Issue 4, Year 2016, On page(s): 15 - 22
ISSN: 1582-7445, e-ISSN: 1844-7600
Digital Object Identifier: 10.4316/AECE.2016.04003
Web of Science Accession Number: 000390675900003
SCOPUS ID: 85007524779
Sensor fusion based localization techniques often need accurate estimate of the fast and uncertain scene change in environment. To determine the scene change from two consecutive LIDAR scans, this paper proposes a novel technique called 'keep zero as zero' polar correlation. As it name implies any zero in the scan data is kept isolated from scene change estimation as it do not carry any information about scene change. Unlike existing techniques, the proposed methodology employs minimization of selective horizontal and vertically shifted sum of difference between the scans to estimate scene change in terms of rotation and translation. Minimization of the proposed correlation function across the specified search space can guarantee an accurate estimate of scene change without any ambiguity. The performance of the proposed method is tested experimentally on a mobile robot in two modes depending on the scene change. In the first mode, scene change is detected using dynamic LIDAR, whereas static LIDAR is used in the second mode. The proposed methodology is found to be more robust to environmental uncertainties with a reliable level of localization accuracy.
|References|||||Cited By «-- Click to see who has cited this paper|
| T. Bailey, H. Durrant-Whyte, "Simultaneous localization and mapping (SLAM): Part II", IEEE Robotics and Automation Magazine, vol. 13, no. 3, pp. 108-117. 2006. |
[CrossRef] [Web of Science Times Cited 577] [SCOPUS Times Cited 891]
 J. Gutmann, T. Weigel, B. Nebel, "A fast, accurate and robust method for self-localization in polygonal environments using laser range finders", Advanced Robotics, vol. 14, no. 8, pp. 651-667 2001.
[CrossRef] [Web of Science Times Cited 36] [SCOPUS Times Cited 50]
 W. Hao, Y. Wang, X. Ning, M. Zhao, J. Zhang, Z. Shi, X. Zhang, "Automatic building extraction from terrestrial laser scanning data," Advances in Electrical and Computer Engineering, vol.13, no.3, pp.11-16, 2013.
[CrossRef] [Full Text] [Web of Science Times Cited 5] [SCOPUS Times Cited 6]
 X. Ning, Y. Wang, "Object extraction from architecture scenes through 3d local scanned data analysis," Advances in Electrical and Computer Engineering, vol.12, no.3, pp.73-78, 2012.
[CrossRef] [Full Text] [Web of Science Times Cited 2] [SCOPUS Times Cited 3]
 S. Bando, T. Tsubouchi, S. Yuta, "Scan matching method using projection in dominant direction of indoor environment", Advanced Robotics, vol. 28, no. 18, pp. 1243-1251. 2014.
[CrossRef] [Web of Science Times Cited 1] [SCOPUS Times Cited 1]
 M. Ahmad Sharbafi, S. Taleghani, E. Esmaeili, "ICE matching, robust and fast feature-based scan matching for an online operation", Journal of Experimental and Theoretical Artificial Intelligence, vol. 27, no. 2, pp. 137-157. 2015.
[CrossRef] [Web of Science Times Cited 1] [SCOPUS Times Cited 1]
 R. Lindenbergh, P. Pietrzyk, "Change detection and deformation analysis using static and mobile laser scanning." Applied Geomatics, 7(2), pp. 65-74. 2015.
[CrossRef] [Web of Science Times Cited 15] [SCOPUS Times Cited 19]
 S. Zeng, "A tracking system of multiple LiDAR sensors using scan point matching", IEEE Transactions on Vehicular Technology, vol. 62, no. 6, pp. 2413-2420. 2013.
[CrossRef] [Web of Science Times Cited 3] [SCOPUS Times Cited 3]
 G. Zhang, I. H. Suh, "A vertical and floor line-based monocular SLAM system for corridor environments." International Journal of Control, Automation and Systems, vol. 10, no. 3, pp. 547-557, 2012.
[CrossRef] [Web of Science Times Cited 12] [SCOPUS Times Cited 12]
 C. Ulas, H. Temeltas, "A fast and robust feature-based scan-matching method in 3d slam and the effect of sampling strategies", International Journal of Advanced Robotic Systems, vol. 10, no. 1, 2013.
[CrossRef] [Web of Science Times Cited 1] [SCOPUS Times Cited 6]
 A. Fernando, Auat Cheein, Ricardo Carelli, "Analysis of different feature selection criteria based on a covariance convergence perspective for a slam algorithm." Sensors, vol. 11, pp. 62-89, 2011.
[CrossRef] [Web of Science Times Cited 8] [SCOPUS Times Cited 14]
 E. Tsardoulias, L. Petrou, "Critical rays scan match SLAM", Journal of Intelligent and Robotic Systems: Theory and Applications, vol. 72, no. 3-4, pp. 441-462. 2013.
[CrossRef] [Web of Science Times Cited 9] [SCOPUS Times Cited 12]
 D. Z. Wang, I. Posner, P. Newman, "Model-free detection and tracking of dynamic objects with 2D LIDAR", International Journal of Robotics Research, vol. 34, no. 7, pp. 1039-1063. 2015.
 R. Guo, F. Sun, L. Yuan, "ICP based on polar point matching with application to graph-SLAM", 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009, pp. 1122. 2009.
[CrossRef] [SCOPUS Times Cited 10]
 M. Mirkhani, R. Forsati, A. M. Shahri, A. Moayedikia, "A novel efficient algorithm for mobile robot localization", Robotics and Autonomous Systems, vol. 61, no. 9, pp. 920-931. 2013.
[CrossRef] [Web of Science Times Cited 13] [SCOPUS Times Cited 30]
 J. Neira, J. D. Tardos, "Data association in stochastic mapping using the joint compatibility test", IEEE transaction on Robotics and Automation, vol. 17, no. 6, pp. 890-897, 2001.
[CrossRef] [Web of Science Times Cited 365] [SCOPUS Times Cited 481]
 Yangming Li, Shuai Li, Quanjun Song, Hai Liu, M. Q. Meng, "Fast and robust data association using posterior based approximate joint compatibility test," IEEE Transactions on Industrial Informatics, vol.10, no.1, pp.331,339, 2014.
[CrossRef] [Web of Science Times Cited 9] [SCOPUS Times Cited 9]
 J. Zeng Wen, T. D. Zhang, P. Jiang Da, "Analysis of data association methods of SLAM", Journal of Systems Engineering and Electronics, ISSN: 1001-506X, vol. 32, no. 4, pp. 860-864, 2010
 A. Diosi, L. Kleeman, "Laser scan matching in polar coordinates with application to SLAM", 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, pp. 1439, 2005.
[CrossRef] [Web of Science Times Cited 4] [SCOPUS Times Cited 100]
 D. Spelic, F. Novak, B. Zalik, "A fast method for the alignment of the displacement of voxel data," Advances in Electrical and Computer Engineering, vol. 12, no. 2, pp. 41-46, 2012.
[CrossRef] [Full Text] [Web of Science Times Cited 1] [SCOPUS Times Cited 1]
 M. Choi, J. Choi, W. K. Chung, "Correlation-based scan matching using ultrasonic sensors for EKF localization", Advanced Robotics, vol. 26, no. 13, pp. 1495-1519. 2012.
[CrossRef] [Web of Science Times Cited 7] [SCOPUS Times Cited 9]
 Davor Graovac, Srecko Juric-Kavelj, Ivan Petrovic, "Mobile robot pose tracking by correlation of laser range finder scans in Hough domain.", 19th International Workshop on Robotics in Alpe-Adria-Danube Region - RAAD2010, 2010.
[CrossRef] [SCOPUS Times Cited 6]
 K. Briechle, U. D. Hanebeck, "Self-localization of a mobile robot using fast normalized cross correlation," IEEE International Conference on Systems, Man, and Cybernetics, IEEE SMC '99 Conference Proceedings. vol. 4, no. 1, pp.720-725, 1999.
 Lei Zhang, Sung-In Choi, Soon-Yong Park, "Polar-Cartesian hybrid transforms: a novel 2d range scan registration algorithm", International Journal of Control, Automation, and Systems, vol. 11, no. 5, pp. 1001-1008, 2013.
[CrossRef] [Web of Science Times Cited 4] [SCOPUS Times Cited 5]
 M. Altermatt, A. Martinelli, N. Tomatis, R. Siegwart, "SLAM with corner features based on a relative map". 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), vol. 2, pp. 1053-1058, 2004.
 T. Chai, R. R. Draxler, "Root mean square error (RMSE) or mean absolute error (MAE)? - arguments against avoiding RMSE in the literature," Geosci. Model Dev., vol. 7, pp. 1247-1250, 2014.
[CrossRef] [Web of Science Times Cited 256] [SCOPUS Times Cited 315]
Web of Science® Citations for all references: 1,329 TCR
SCOPUS® Citations for all references: 1,984 TCR
Web of Science® Average Citations per reference: 49 ACR
SCOPUS® Average Citations per reference: 73 ACR
TCR = Total Citations for References / ACR = Average Citations per Reference
We introduced in 2010 - for the first time in scientific publishing, the term "References Weight", as a quantitative indication of the quality ... Read more
Citations for references updated on 2018-01-17 23:55 in 158 seconds.
Note1: Web of Science® is a registered trademark of Thomson Reuters.
Note2: SCOPUS® is a registered trademark of Elsevier B.V.
Disclaimer: All queries to the respective databases were made by using the DOI record of every reference (where available). Due to technical problems beyond our control, the information is not always accurate. Please use the CrossRef link to visit the respective publisher site.
Faculty of Electrical Engineering and Computer Science
Stefan cel Mare University of Suceava, Romania
All rights reserved: Advances in Electrical and Computer Engineering is a registered trademark of the Stefan cel Mare University of Suceava. No part of this publication may be reproduced, stored in a retrieval system, photocopied, recorded or archived, without the written permission from the Editor. When authors submit their papers for publication, they agree that the copyright for their article be transferred to the Faculty of Electrical Engineering and Computer Science, Stefan cel Mare University of Suceava, Romania, if and only if the articles are accepted for publication. The copyright covers the exclusive rights to reproduce and distribute the article, including reprints and translations.
Permission for other use: The copyright owner's consent does not extend to copying for general distribution, for promotion, for creating new works, or for resale. Specific written permission must be obtained from the Editor for such copying. Direct linking to files hosted on this website is strictly prohibited.
Disclaimer: Whilst every effort is made by the publishers and editorial board to see that no inaccurate or misleading data, opinions or statements appear in this journal, they wish to make it clear that all information and opinions formulated in the articles, as well as linguistic accuracy, are the sole responsibility of the author.