Mobile robot localization based on an inaccurate map

Masahiro Tomono, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

20 Citations (Scopus)

Abstract

This paper proposes a method of global localization on a map with large uncertainty. Since the pose of a mobile robot represented in a global frame of reference might be inconsistent on an inaccurate map, the method represents the robot pose in a local frame attached to a landmark. When the robot finds a new landmark, the robot transforms as pose from the old landmark frame to the new one based on the relative pose between the landmarks. Map errors are represented by probability density functions defined on these relative poses. The paper presents an extension of Markov localization which is augmented so as to incorporate the map errors into data fusion process, and shows experimental results.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages399-404
Number of pages6
Volume1
Publication statusPublished - 2001
Externally publishedYes
Event2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI
Duration: 2001 Oct 292001 Nov 3

Other

Other2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
CityMaui, HI
Period01/10/2901/11/3

Fingerprint

Mobile robots
Robots
Data fusion
Probability density function

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Tomono, M., & Yuta, S. (2001). Mobile robot localization based on an inaccurate map. In IEEE International Conference on Intelligent Robots and Systems (Vol. 1, pp. 399-404)

Mobile robot localization based on an inaccurate map. / Tomono, Masahiro; Yuta, Shinichi.

IEEE International Conference on Intelligent Robots and Systems. Vol. 1 2001. p. 399-404.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tomono, M & Yuta, S 2001, Mobile robot localization based on an inaccurate map. in IEEE International Conference on Intelligent Robots and Systems. vol. 1, pp. 399-404, 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, HI, 01/10/29.
Tomono M, Yuta S. Mobile robot localization based on an inaccurate map. In IEEE International Conference on Intelligent Robots and Systems. Vol. 1. 2001. p. 399-404
Tomono, Masahiro ; Yuta, Shinichi. / Mobile robot localization based on an inaccurate map. IEEE International Conference on Intelligent Robots and Systems. Vol. 1 2001. pp. 399-404
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