Laser based position acquisition and tracking in an indoor environment

Abstract

In this paper we present a technique for acquisition and tracking of the pose of a mobile robot with a laser scanner. The position and orientation of the walls are the basis for estimating the pose of the robot. Validation gates filter out data that is believed to belong to the walls. For finding the parameters of the walls a two stage process with a local Range Weighted Hough Transform and a least squares method are implemented. Experimental results are shown to argue for the performance of the method.