Abstract
In this paper a recursive smoothing spline approach is used for reconstructing a closed contour. Periodic splines are generated through minimizing a cost function subject to constraints imposed by a linear control system. The filtering effect of the smoothing splines allows for usage of noisy sensor data. An important feature of the method is that several data sets for the same closed contour can be processed recursively so that the accuracy can be improved meanwhile the current mapping can be used for planning the path for the data-collecting robot.
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Karasalo, M., Hu, X., Martin, C.F. (2007). Contour Reconstruction and Matching Using Recursive Smoothing Splines. In: Chiuso, A., Pinzoni, S., Ferrante, A. (eds) Modeling, Estimation and Control. Lecture Notes in Control and Information Sciences, vol 364. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-73570-0_16
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DOI: https://doi.org/10.1007/978-3-540-73570-0_16
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