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摘要
This paper addresses the problem of scan matching which is highly indispensable for mobile robot systems based on range sensors. Recently, polar scan matching (PSM) has been used in solving the problem because it is accurate and fast enough to be performed in real time. However, the performance of PSM degenerates when the portion of scan data from dynamic objects is excessively large. This paper proposes a scan restoration method to overcome this problem and improve the performance of PSM in dynamic environments. The proposed method restores the scan data from dynamic objects to appropriate scan data from static objects. First, whole scan data is segmented and classified as static and dynamic objects. Next, curvature functions are extracted from the classified segments and smoothed by interpolating the segments indicating dynamic obstacles. PSM with the proposed method was tested and evaluated in various real dynamic environments, which reveals that the proposed method can improve the performance of PSM in dynamic environments.
- 出版日期2013-8-1
