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：2012
卷号：6
期号：1
页码：15
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：In this paper, we use non-invariant Fourier descriptors to derive transformation variables which allow us to opti- mally localize and reorient robot-generated maps based on the map shapes in order to determine, in an automated way, the accuracy of the generated maps. Our method uses only 4 simple calculations for alignment, therefore is extremely fast and gives a very good optimization for data maps that contain consistent, high frequency noise. A drawback to this method is occlusions in the map which affect the low frequency Fourier descriptors and cause lo- calization and orientation errors. Preprocessing and opti- mization can help minimize these drawbacks. This appli- cation can be easily adapted to other areas such as image comparison or fault detection.
