Mobile robot localization based on an inaccurate map

Masahiro Tomono, Shin'ichi Yuta

Research output: Contribution to conferencePaper

21 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
Pages399-404
Number of pages6
Publication statusPublished - 2001 Dec 1
Event2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States
Duration: 2001 Oct 292001 Nov 3

Conference

Conference2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityMaui, HI
Period01/10/2901/11/3

    Fingerprint

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Tomono, M., & Yuta, S. (2001). Mobile robot localization based on an inaccurate map. 399-404. Paper presented at 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, HI, United States.