中文摘要：

提出了一种基于激光信息的移动机器人两步自定位方法.在对扫描数据预处理之后,第一步采用序贯搜索法进行室内环境的直线提取并建立角度直方图,通过角度直方图匹配求取机器人的旋转角度.第二步对角度匹配后的激光数据进行核密度估计,以核相关为基础建立以平移向量为参数的目标函数,并采用BFGS拟牛顿法实现平移向量的求解.实验结果证明该方法能够有效的实现移动机器人的精确自定位.

英文摘要：

A two-step self-localization method for mobile robots is presented based on laser information. After preprocessing of the laser scan map, straight lines are extracted by a sequential searching method during the first step and the angle histogram is constructed. Then the rotation angle of the robot can be computed by angle histogram matching. During the second step, the kernel densities of the laser data after histogram matching are estimated and the object function with translation parameter is constructed based on kernel density correlation. The translation vector is solved by the BFGS quasi Newton method. Experimental results demonstrate the effectiveness of this method.