@inproceedings{f7afeea32a0e4f7c9e8422cf6f676a60,
title = "Localization of UGV based on 2-point absolute pose algorithm",
abstract = "This paper introduces a new approach to recognize the position of a UGV - Unmanned Ground Vehicle - utilizing a Digital Surface Map (DSM) along with forward direction three dimensional (3D) distance sensors and cameras. The proposed method consists of a P2P-based (Perspective 2-Point) pairwise registration, and an ICP refinement registration that implements the DSM. A new cost function, which utilizes simultaneously acquired forward direction 3D distance data and DSM information, is also introduced when proposing ICP. The excellence of the proposed position estimation method is evaluated through quantitative analysis of several experiment results.",
keywords = "localization, motion estimation, SLAM",
author = "Choi, {Sung In} and Pathum Rathnayaka and Park, {Soon Yong}",
note = "Publisher Copyright: {\textcopyright} 2015 Institute of Control, Robotics and Systems - ICROS.; 15th International Conference on Control, Automation and Systems, ICCAS 2015 ; Conference date: 13-10-2015 Through 16-10-2015",
year = "2015",
month = dec,
day = "23",
doi = "10.1109/ICCAS.2015.7365008",
language = "English",
series = "ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "693--695",
booktitle = "ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings",
address = "United States",
}