Newsgroups: comp.robotics
Path: brunix!cat.cis.Brown.EDU!agate!howland.reston.ans.net!EU.net!Germany.EU.net!news.dfn.de!kfk.de!rz.uni-karlsruhe.de!stepsun.uni-kl.de!uklirb.informatik.uni-kl.de!automatix.informatik.uni-kl.de!weiss
From: Gerhard Weiss <weiss@informatik.uni-kl.de>
Subject: Paper available (Position estimation from laser radar scans)
Message-ID: <1994Aug16.074841.3761@uklirb.informatik.uni-kl.de>
X-Xxmessage-Id: <AA763BF1FA01C01D@automatix.informatik.uni-kl.de>
X-Xxdate: Tue, 16 Aug 1994 08:48:33 GMT
Sender: news@uklirb.informatik.uni-kl.de (Unix-News-System)
Nntp-Posting-Host: automatix.informatik.uni-kl.de
Organization: Universitaet Kaiserslautern
X-Newsreader: Nuntius Version 1.2
Date: Tue, 16 Aug 1994 07:48:41 GMT
Lines: 40

Hello,

I added a paper to our universities report server, which is reachable
by anonymous ftp as: ftp.uni-kl.de
Path: /reports_uni-kl/computer_science/mobile_robots/1994/papers
The name of the paper is: Weiss.Position_from_scans.ps.Z


The paper shows how position and orientation can be tracked in structured
environments with the help of laser radar scans.
Quote from the papers abstract:
>
>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.
>
This paper is presented at the IROS94 conference in Munich, Germany

Any comments, questions, remarks are welcome!

Regards, Gerd
--
Dipl.-Inform. Gerhard Weiss              weiss@informatik.uni-kl.de
Universtitaet Kaiserslautern             Tel.: +49-631-205-2656
Fachbereich Informatik                   Fax:  +49-631-205-2803
AG Robotik und Prozessrechentechnik

Briefe/Letters:                          Pakete/Parcels:
Postfach 3049                            Erwin-Schroedinger-Str.
D-67653 Kaiserslautern                   D-67663 Kaiserslautern
Germany
