期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2013
卷号：7
期号：4
页码：42
DOI：10.14313/JAMRIS_4-2013/43
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：�n this paper we inves�gate methods �or sel�-locali�a�ono� a walking robot with the �inect �� ac�ve range sensor.The �tera�ve �losest �oint (���) algorithm is consideredas the basis �or the computa�on o� the robot rota-�on and transla�on between two viewpoints. As an alterna�ve,a �eature-based method �or matching o� �� rangedata is considered, using the Normal Aligned Radial Feature(NARF) descriptors. Then, it is shown that NARFs canbe used to compute a good ini�al es�mate �or the ��� algorithm,resul�ng in convergent es�ma�on o� the sensoregomo�on. ��perimental results are provided.
