基于LieICP算法和激光雷达的移动机器人位姿估计

In this paper, the online pose estimation of mobile robots is addressed, which is widely considered in the robot navigation, and target tracking, etc.. A novel method based on the laser radar data and the point set registration algorithm by Lie group representation is designed. First, 2D laser radar is introduced to the system of robotic motion, then the problem is translated into a series of point set registration. Second, by Lie group parametrization method, the point set registration problem is well solved. Then, a strategy of self-localization is formed. Finally, the outdoor experiment validates that our proposed method settles the problem of interference in the GPS-signal blind area well, as well as the robustness is improved.