On estimating a robot's motion from laser range measurements usingthe distance transform

摘要

The long term goal is to find generic methods for navigating arobot relative to objects of arbitrary shape. Both range measuringlasers and range cameras are considered. The authors study the distancetransform on measurements for estimating the motion of a robot relativeto an object of arbitrary shape. Emphasis is on the error mechanism whentested on cluttered outdoor and indoor scenes. Also the lasermeasurements are modelled for different types of object/surfaceproperties. Potential applications are outdoor vehicles as well asindustrial robots and AGVs