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Authors: Aníbal Matos
Miguel Armando Pinto
António Paulo Moreira
Héber Miguel Sobreira
Issue Date: 2012
Abstract: A new and fast methodology is discussed as a solution to pinpointing the location of a robot called RobVigil, in a robust way, without environment preparation, even in dynamic scenarios. This solution does not require a high computational power. Firstly, the EKF-SLAM is used to find the location of the vehicle, allowing to map the surrounding area in the 3D space. Afterwards, the constructed map is used in a 3D matching algorithm during the normal operation of the vehicle to pinpoint its location. The 3D matching algorithm uses data from a tilting Laser Range Finder. Experimental results on the performance and accuracy of the proposed method are presented in this paper.
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