GEMA 2 : Geometrical matching analytical algorithm for fast mobile robots global self-localization
A new algorithm for fast mobile robot self-localization in indoor environments. GEMA2 performs a geometrical matching using surface registration techniques. Suitable for resource-constrained embedded system due to its linear cost. Robustness against possible outliers in the environment. Implemented and tested in a mobile robot showing fast convergence.
geometrical matching mobile robots robots self-localization autonomous robots laser range finders