Heuristic Correlation based Laser Odometry Method for Unconstructed Environment

H. Hyyti, M. Öhman, M. Miettinen, and A. Visala (Finland)


Mobile robot, cross-correlation, laser odometry, and pose tracking


In this paper we present a heuristic correlation based laser odometry method for vehicle pose estimation in unconstructed environment. The method uses two separate horizontal scanning laser range finders with the combined field of view of nearly 360 degrees. The method is suitable for acquiring quite accurate translation and rotation estimates at slow velocities. This laser odometry method is designed for challenging environments, like forests, where there are no easily recognizable features. The presented method can be used iteratively to increase its accuracy.

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