Mobile robot localization based on an inaccurate map

Masahiro Tomono, Shinichi Yuta

研究成果: Conference contribution

21 引用 (Scopus)

抄録

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.

元の言語English
ホスト出版物のタイトルIEEE International Conference on Intelligent Robots and Systems
ページ399-404
ページ数6
1
出版物ステータスPublished - 2001
外部発表Yes
イベント2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI
継続期間: 2001 10 292001 11 3

Other

Other2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
Maui, HI
期間01/10/2901/11/3

Fingerprint

Mobile robots
Robots
Data fusion
Probability density function

ASJC Scopus subject areas

  • Control and Systems Engineering

これを引用

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

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

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

研究成果: Conference contribution

Tomono, M & Yuta, S 2001, Mobile robot localization based on an inaccurate map. : IEEE International Conference on Intelligent Robots and Systems. 巻. 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. : IEEE International Conference on Intelligent Robots and Systems. 巻 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. 巻 1 2001. pp. 399-404
@inproceedings{a28ae5c3062d464fb4268abecf036140,
title = "Mobile robot localization based on an inaccurate map",
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.",
author = "Masahiro Tomono and Shinichi Yuta",
year = "2001",
language = "English",
volume = "1",
pages = "399--404",
booktitle = "IEEE International Conference on Intelligent Robots and Systems",

}

TY - GEN

T1 - Mobile robot localization based on an inaccurate map

AU - Tomono, Masahiro

AU - Yuta, Shinichi

PY - 2001

Y1 - 2001

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0035559776&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0035559776&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0035559776

VL - 1

SP - 399

EP - 404

BT - IEEE International Conference on Intelligent Robots and Systems

ER -