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Keeping Track of Position and Orientation of Moving Indoor Systems by Correlation of Range-Finder Scans

  • One of the problems of autonomous mobile systems is the continuous tracking of position and orientation. In most cases, this problem is solved by dead reckoning, based on measurement of wheel rotations or step counts and step width. Unfortunately dead reckoning leads to accumulation of drift errors and is very sensitive against slippery. In this paper an algorithm for tracking position and orientation is presented being nearly independent from odometry and its problems with slippery. To achieve this results, a rotating range-finder is used, delivering scans of the environmental structure. The properties of this structure are used to match the scans from different locations in order to find their translational and rotational displacement. For this purpose derivatives of range-finder scans are calculated which can be used to find position and orientation by crosscorrelation.

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Author:Gerhard Weiß, Christopher Wetzler, Ewald von Puttkamer
URN (permanent link):urn:nbn:de:hbz:386-kluedo-2866
Document Type:Preprint
Language of publication:English
Year of Completion:1999
Year of Publication:1999
Publishing Institute:Technische Universität Kaiserslautern
Date of the Publication (Server):2000/04/03
Faculties / Organisational entities:Fachbereich Informatik
DDC-Cassification:0 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik
Licence (German):Standard gemäß KLUEDO-Leitlinien vor dem 27.05.2011