TY - GEN
T1 - Map building of unknown environment using PSO-tuned enhanced Iterative Closest Point algorithm
AU - Hsu, Chen Chien
AU - Chang, Hua En
AU - Lu, Yin Yu
PY - 2013
Y1 - 2013
N2 - Iterative Closest Point (ICP) algorithm is widely used in 2D and 3D spatial and geometric alignment. There are many variants of the ICP algorithm, proposing methods to minimize the sum of Euclidean distances between two clouds of scanning points for map building of an unknown environment by a mobile robot. Considering simplicity and computational efficiency, this paper proposes an enhanced-ICP incorporating a Particle Swarm Optimization (PSO) to effectively filter out outliers and avoid the false matching points during the map building process. Experimental results showed that, the proposed PSO-tuned enhanced-ICP can effectively reduce the accumulated errors to improve the map building accuracy by circumventing the problems of local optimal solutions resulted from the outliers and false matching points during the map building process.
AB - Iterative Closest Point (ICP) algorithm is widely used in 2D and 3D spatial and geometric alignment. There are many variants of the ICP algorithm, proposing methods to minimize the sum of Euclidean distances between two clouds of scanning points for map building of an unknown environment by a mobile robot. Considering simplicity and computational efficiency, this paper proposes an enhanced-ICP incorporating a Particle Swarm Optimization (PSO) to effectively filter out outliers and avoid the false matching points during the map building process. Experimental results showed that, the proposed PSO-tuned enhanced-ICP can effectively reduce the accumulated errors to improve the map building accuracy by circumventing the problems of local optimal solutions resulted from the outliers and false matching points during the map building process.
KW - Iterative Closest Point
KW - Map Building
KW - Particle Swarm Optimization
UR - http://www.scopus.com/inward/record.url?scp=84887478481&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84887478481&partnerID=8YFLogxK
U2 - 10.1109/ICSSE.2013.6614675
DO - 10.1109/ICSSE.2013.6614675
M3 - Conference contribution
AN - SCOPUS:84887478481
SN - 9781479900091
T3 - ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings
SP - 279
EP - 284
BT - ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings
T2 - IEEE International Conference on System Science and Engineering, ICSSE 2013
Y2 - 4 July 2013 through 6 July 2013
ER -