Mobile robot localization based on an inaccurate map

Masahiro Tomono, Shin'ichi Yuta

研究成果: Paper

21 引用 (Scopus)

抜粋

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
ページ399-404
ページ数6
出版物ステータスPublished - 2001 12 1
イベント2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States
継続期間: 2001 10 292001 11 3

Conference

Conference2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
United States
Maui, HI
期間01/10/2901/11/3

ASJC Scopus subject areas

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

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  • これを引用

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