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Fast 3D map matching localisation algorithm

This solution does not require a high computational power. The methodology is a threedimensional map based approach, which uses the 3D map of the surrounding environment and data acquired by a tilting Laser Range Finder (LRF), to pinpoint the robot pose. Experimental results about the accuracy of the proposed method are presented in this paper. | Journal of Automation and Control Engineering, Vol. 1, No. 2, June 2013 Fast 3D Map Matching Localisation Algorithm Miguel Pinto, A. Paulo Moreira, Aníbal Matos, Héber Sobreira, and Filipe Santos INESC Porto - Institute for Systems and Computer Engineering of Porto, Faculty of Engineering, University of Porto, Porto, Portugal Email: {dee09013, amoreira, anibal, dee09025, dee09043}@fe.up.pt Abstract—A new and fast methodology is discussed as a solution to pinpointing the location of a robot, in a robust way, without environment preparation, even in dynamic scenarios. This solution does not require a high computational power. The methodology is a threedimensional map based approach, which uses the 3D map of the surrounding environment and data acquired by a tilting Laser Range Finder (LRF), to pinpoint the robot pose. Experimental results about the accuracy of the proposed method are presented in this paper. Index Terms— robot localisation, 3D matching, EKF-SLAM, laser range finder I. systematic and uninterruptable inspection routines, with minimum human intervention. The RobVigil, performing a surveillance routine, in a shopping mall is shown in Fig. 1. The LRF – Hokuyo URG-04LX-UG01 – was used to perceive the environment. To obtain a three-dimensional sensor, a rotating platform was created based on the dc servo motor, the AX-12 Dynamixel Bioloid. The complete tilting LRF solution is shown in Fig. 2. The tilting LRF has a distance range of 5 metres and acquires 769 points at every 100 milliseconds. INTRODUCTION To be truly autonomous, a robot must be able to pinpoint their location inside dynamic environments, moving in an unlimited area, without preparation needs. In order to fulfil this definition of autonomy, the fundamental motivation and opportunity of this work, was the implementation of a robust strategy of localisation that runs online in a short execution time. The developed approach is a three-dimensional map based localisation method, with the .