원문정보
초록
영어
In order to make efficient obstacle detection or to create a mapping, SLAM simultaneous localization and mapping being a special case, a good estimation of the sensor's move is needed. Adding dedicated extra sensors to the carrier is the most common solution but not without several limits: sensors have their own accuracy and range of use. Moreover, extra sensors are not often at the same place and so have different moves from one to another. In our outdoor application, the use of a panoramic radar as the main sensor offers another solution: the properties of the Radon's transform and the use of high resolution analysis ESPRIT allows the estimation of the motion's parameters without extra sensors, by the comparisons of successive panoramic maps. The method have been tested in both natural and urban environments and compared to motion estimated by a gyrometer and an odometer.
목차
1. Introduction
2. The Radar for Obstacle Detection and Mapping
2.1. The Structure of the Radar
2.2. Computation of the Panoramic Maps
3. Estimation of the Movement Parameters with a Map Matching
3.1. Estimation of the Rotation Angle with a Radon Transform
3.2. Estimation of the Translations Parameters
4. Tests of the Algorithms
4.1. Estimation of the Rotation
4.2. Estimation of the Translations
5. Conclusion
Acknowledgements
References