期刊名称:Journal of Computational Science and Technology
电子版ISSN:1881-6894
出版年度:2010
卷号:4
期号:1
页码:1-10
DOI:10.1299/jcst.4.1
出版社:The Japan Society of Mechanical Engineers
摘要:Map-matching is an effective approach for robot localization using large-size landmark maps. Existing map-matching techniques typically address batch localization applications where the objective maps are given prior to the map-matching task. In contrast to the existing techniques, this paper addresses real-time localization applications where the maps can be incrementally updated even during the map-matching task. We present a solution that combines an incremental RANSAC map-matching with an ANN landmark database. Experiments using real data show promising results.