Localizing Against Drawn Maps via Spline-Based Registration
Kevin Chen,Marynel Vázquez,Silvio Savarese,Kevin Chen,Marynel Vázquez,Silvio Savarese
We propose a method to facilitate robot navigation relative to sketched maps of human environments. Our main contribution centers around using thin plate splines for registering the robot's LIDAR observation with the hand-drawn maps. Thin plate splines are particularly effective for this task because they are able to handle many of the nonrigid deformations commonly seen in sketches of maps, which...
