Abstract

摘要: 提出激光束匹配问题中移动机器人相对运动估计误差的分析方法. 以概率图模型建模激光点几何特征, 构建链式成双条件随机场推理激光点关联的边缘概率. 通过对关联配置空间的节点和状态限定, 紧凑采样激光束匹配不确定性概率分布, 并映射于相对运动估计空间, 推理相对运动估计误差. 实验验证了算法的有效性. 关键词: 激光束匹配 / 不确定性估计 / 条件随机场 / 图模型

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