Laser range finder filters for mapping and localisation

摘要

In the real world, sensors are always exposes to noise and error during measurements. These problems will lead to invalid and overshoot readings, as well as blank data. Fortunately, these errors can be treated using filters. For data collection process using laser range finder, the use of filters is necessary as they can help to overcome the laser limitations and improve the scanning input. Here, this paper presents a significant work on filters towards the laser range finder data for robotic mapping and localisation purpose. Raw filter and smooth filter are chosen and they will assist the localisation algorithm adapted here in determining the accurate coordinates of mobile robot location estimation. The results show that by using the filters, location estimation have achieved 90% accuracy. At the same time, it is also shown that less processing data and faster processing speed can be achieved by incorporating the filters. As a conclusion, the raw and smooth filters are very suitable to be applied into the laser range finder data and are successful in improving the localisation accuracy.