TY - GEN
T1 - The generation of environmental map based on a NDT grid mapping - Proposal of convergence calculation corresponding to high resolution grid
AU - Kaminade, Takuya
AU - Takubo, Tomohito
AU - Mae, Yasushi
AU - Arai, Tatsuo
PY - 2008
Y1 - 2008
N2 - The paper presents a new convergence calculation method of the Normal Distributions Transform (NDT) scan matching for high resolution grid map. The proposed method employs Interactive Closest Point(ICP) algorithm to find corresponding point, even if the input scan points are in the outside of the reference grid area. It also enlarges the convergence area by modifying the eigenvalue of normal distribution so that the evaluation value can be driven effectively by all the pairing data for improving convergence speed. In the normal NDT scan matching algorithm, the grid size especially has much effect on the capability of convergence area and speed. Thus, it is difficult to generate the detailed map with small grids. The proposed convergence approach can solve the problem by the phased adjustment of convergence area. Experimental result shows the feasibility of the detailed environmental map generated by the NDT grid mapping.
AB - The paper presents a new convergence calculation method of the Normal Distributions Transform (NDT) scan matching for high resolution grid map. The proposed method employs Interactive Closest Point(ICP) algorithm to find corresponding point, even if the input scan points are in the outside of the reference grid area. It also enlarges the convergence area by modifying the eigenvalue of normal distribution so that the evaluation value can be driven effectively by all the pairing data for improving convergence speed. In the normal NDT scan matching algorithm, the grid size especially has much effect on the capability of convergence area and speed. Thus, it is difficult to generate the detailed map with small grids. The proposed convergence approach can solve the problem by the phased adjustment of convergence area. Experimental result shows the feasibility of the detailed environmental map generated by the NDT grid mapping.
UR - http://www.scopus.com/inward/record.url?scp=51649099588&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2008.4543480
DO - 10.1109/ROBOT.2008.4543480
M3 - Conference contribution
AN - SCOPUS:51649099588
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1874
EP - 1879
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -