Localisation of a Mobile Robot using a Laser Scanner on Reconstructed 3D Models

摘要

Abstract: This paper presents a localisation algorithm for a mobile robot based on laser range and reflectance data measured with a Laser Range Scanner. It is suited to structured indoor environments, with horizontal floor. The environment models are available from a previous 3D reconstruction using the same laser device. The algorithm estimates the robot’s posture without any initial estimate. Its core element is the frame object, a geometric entity that provides a precise localisation estimate when matched to another similar frame.