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1. Registration algorithms formatching laser scans in robotics application
Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)Sammanfattning : In this study, we compare different variations of the Iterative ClosestPoint (ICP) algorithm for the purpose of matching laser scans generatedby an indoor robot. The study is mainly focused on investigating maxi-mum difference in the viewpoint the algorithms can handle, and if it canbe used for robot-pose estimation by matching laser scan data generatedat different positions in a home. LÄS MER
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