Robust Global Scan Matching Method Using Congruence Transformation Invariant Feature Descriptors and a Geometric Constraint between Keypoints

Takayuki NAKAMURA; Shohei WAKITA

doi:10.9746/sicetr.51.309

Robust Global Scan Matching Method Using Congruence Transformation Invariant Feature Descriptors and a Geometric Constraint between Keypoints

Transactions of the Society of Instrument and Control Engineers ◽

10.9746/sicetr.51.309 ◽

2015 ◽

Vol 51 (5) ◽

pp. 309-318

Author(s):

Takayuki NAKAMURA ◽

Shohei WAKITA

Keyword(s):

Geometric Constraint ◽

Matching Method ◽

Scan Matching ◽

Feature Descriptors ◽

Invariant Feature ◽

Congruence Transformation

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2A2-T05 Robust Global Scan Matching Method using Congruence Transformation Invariant Feature Descriptors and Geometric Constraint Between Keypoints(Localization and Mapping)

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ◽

10.1299/jsmermd.2014._2a2-t05_1 ◽

2014 ◽

Vol 2014 (0) ◽

pp. _2A2-T05_1-_2A2-T05_4

Author(s):

Shohei Wakita ◽

Takayuki Nakamura

Keyword(s):

Geometric Constraint ◽

Matching Method ◽

Scan Matching ◽

Feature Descriptors ◽

Invariant Feature ◽

Localization And Mapping ◽

Congruence Transformation

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Robust global scan matching method using congruence transformation invariant feature descriptors and a geometric constraint between keypoints

2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC) ◽

10.1109/smc.2014.6974404 ◽

2014 ◽

Author(s):

Takayuki Nakamura ◽

Shohei Wakita

Keyword(s):

Geometric Constraint ◽

Matching Method ◽

Scan Matching ◽

Feature Descriptors ◽

Invariant Feature ◽

Congruence Transformation

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1A2-H10 Congruence Transformation Invariant Feature for Robust Scan Matching(Localization and Mapping (1))

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ◽

10.1299/jsmermd.2013._1a2-h10_1 ◽

2013 ◽

Vol 2013 (0) ◽

pp. _1A2-H10_1-_1A2-H10_4

Author(s):

Yuuichi Tashita ◽

Takayuki Nakamura

Keyword(s):

Scan Matching ◽

Invariant Feature ◽

Localization And Mapping ◽

Congruence Transformation

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Congruence Transformation Invariant Feature Descriptor for Robust 2D Scan Matching

2013 IEEE International Conference on Systems, Man, and Cybernetics ◽

10.1109/smc.2013.284 ◽

2013 ◽

Cited By ~ 2

Author(s):

Takayuki Nakamura ◽

Yuuichi Tashita

Keyword(s):

Feature Descriptor ◽

Scan Matching ◽

Invariant Feature ◽

Congruence Transformation

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A scan matching method using Euclidean invariant signature for global localization and map building

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 ◽

10.1109/robot.2004.1307258 ◽

2004 ◽

Cited By ~ 67

Author(s):

M. Tomono

Keyword(s):

Map Building ◽

Matching Method ◽

Global Localization ◽

Scan Matching

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A Novel Scan Matching Method for Mobile Robot Based on Phase Only Matched Filtering*

2018 IEEE International Conference on Information and Automation (ICIA) ◽

10.1109/icinfa.2018.8812336 ◽

2018 ◽

Author(s):

Heng Yu ◽

Yadan Zeng ◽

Houde Dai

Keyword(s):

Mobile Robot ◽

Matched Filtering ◽

Matching Method ◽

Scan Matching

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Robust robot localization and map building using a global scan matching method

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566) ◽

10.1109/iros.2004.1389537 ◽

2005 ◽

Cited By ~ 4

Author(s):

M. Tomono

Keyword(s):

Robot Localization ◽

Map Building ◽

Matching Method ◽

Scan Matching

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Three-dimensional localization and mapping for a crawler-type mobile robot in an occluded area using the scan matching method

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566) ◽

10.1109/iros.2004.1389393 ◽

2005 ◽

Cited By ~ 11

Author(s):

H. Ishida ◽

K. Nagatani ◽

Y. Tanaka

Keyword(s):

Mobile Robot ◽

Three Dimensional ◽

Matching Method ◽

Scan Matching ◽

Localization And Mapping

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An efficient likelihood field mapping method and high speed scan matching method using it

Transactions of the JSME (in Japanese) ◽

10.1299/transjsme.17-00016 ◽

2017 ◽

Vol 83 (853) ◽

pp. 17-00016-17-00016

Author(s):

Mitsuhiro MATSUNAGA ◽

Kazuo NAKAZAWA

Keyword(s):

High Speed ◽

Mapping Method ◽

Matching Method ◽

Scan Matching ◽

Field Mapping

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A study on scan matching method using procrustes analysis

2014 14th International Conference on Control, Automation and Systems (ICCAS 2014) ◽

10.1109/iccas.2014.6987941 ◽

2014 ◽

Author(s):

Hyung Kim ◽

Batsaikhan Dugarjav ◽

Kwang-Hun Lee ◽

Soon-Geul Lee

Keyword(s):

Procrustes Analysis ◽

Matching Method ◽

Scan Matching

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