Mobile Robot Localization and Mapping unstructured environment
1. The laser range finder LMS200, 100 frame scan, a scanning distance comprises 361 data points.
Circular pillar and the wall surfaces of the presence of (formed unstructured environments) 2 environment.
3. The results of ICP algorithm and (IDCP BoC) algorithm based on two-way iterative closest point clusters obtained were compared.
FIG 1 ICP As a result, the red dot robot path, the blue laser data points built environment map
FIG 2 IDCP BoC a result, the red dot robot path, the blue laser data points built environment map
FIG 3 registration error
Reproduced in: https: //www.cnblogs.com/yuhua4/archive/2009/06/28/1512535.html