Mobile robot localization based on an inaccurate map

Masahiro Tomono, Shin'ichi Yuta

研究成果査読

21 被引用数 (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.

本文言語English
ページ399-404
ページ数6
出版ステータス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
国/地域United States
CityMaui, HI
Period01/10/2901/11/3

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

フィンガープリント

「Mobile robot localization based on an inaccurate map」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル