抄録
Range-based ego-motion estimation method, which is so-called "scan-matching", has an important role in robotics. However, conventional scan-matching method, assumes that the error of obtained range data is constant. This degrades estimation results when the robot uses sensors whose error is not constant, e.g.stereo vision. Furthermore, we must also be taken into account for the error in the ego-motion were estimated. In this paper, we propose a scan matching-based 6DOF ego-motion estimation method that considering range ambiguity of the stereo vision and error in the ego-motion were estimated. Simulation experiments are conducted to show the effectiveness of our method.
