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9 November 1994 Robust position estimation of a mobile vehicle
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Proceedings Volume 2247, Sensors and Control for Automation; (1994)
Event: Optics for Productivity in Manufacturing, 1994, Frankfurt, Germany
The ability to estimate the position of a mobile vehicle is a key task for navigation over large distances in complex indoor environments such as nuclear power plants. Schematics of the plants are available, but they are incomplete, as real settings contain many objects, such as pipes, cables or furniture, that mask part of the model. The position estimation method described in this paper matches 3-D data with a simple schematic of a plant. It is basically independent of odometry information and viewpoint, robust to noisy data and spurious points and largely insensitive to occlusions. The method is based on a hypothesis/verification paradigm and its complexity is polynomial; it runs in (Omicron) (m4n4), where m represents the number of model patches and n the number of scene patches. Heuristics are presented to speed up the algorithm. Results on real 3-D data show good behavior even when the scene is very occluded.
© (1994) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Vania Conan, Pierre Boulanger, and Shadia Elgazzar "Robust position estimation of a mobile vehicle", Proc. SPIE 2247, Sensors and Control for Automation, (9 November 1994);


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