Map-matching algorithm applied to localization of AGVs
Precise algorithm for localization based on contour detection and sensory data provided by LIDAR, IMU and odometry.
A localization algorithm intended to increase accuracy and robustness by combining
a map-matching algorithm (Perfect Match) along with more traditional methods like AMCL (Augmented Monte Carlo Loc.).
The Perfect Match algorithm tries to match the point cloud (obstacles coordinates obtained from laser measurements) with the occupancy map using the error-minimization approach.
- Sensory data provided by LIDAR, IMU and odometry
- Perfect Match is a light-weight and precise algorithm based on contour detection .
- accuracy and robustness by combining both methods (AMCL and Perfect Match)
Contact
INESC P&D Brasil
andre.gustavo@ufba.br
paulo.farias@ufba.br