Range scan-based localization methods for mobile robots in complex environments

R. Mázl, Miroslav Kulich, L. Preucil
{"title":"Range scan-based localization methods for mobile robots in complex environments","authors":"R. Mázl, Miroslav Kulich, L. Preucil","doi":"10.1109/ITSC.2001.948669","DOIUrl":null,"url":null,"abstract":"The work introduces design and comparison of different-brand methods for position localization of indoor mobile robots. Both the methods derive the robot relative position from a structure of the working environment based on measurements gathered by a TOF-based laser ranging system. The first presented method applies statistical description of the scene while the other one relies on a feature-based matching approach. Both the approaches provide method-specific behavior, which has been recognized in experiments with real data. The obtained results are compared and further improvements of the localization robustness via their combination are discussed.","PeriodicalId":173372,"journal":{"name":"ITSC 2001. 2001 IEEE Intelligent Transportation Systems. Proceedings (Cat. No.01TH8585)","volume":"84 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2001-08-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"ITSC 2001. 2001 IEEE Intelligent Transportation Systems. Proceedings (Cat. No.01TH8585)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ITSC.2001.948669","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 5

Abstract

The work introduces design and comparison of different-brand methods for position localization of indoor mobile robots. Both the methods derive the robot relative position from a structure of the working environment based on measurements gathered by a TOF-based laser ranging system. The first presented method applies statistical description of the scene while the other one relies on a feature-based matching approach. Both the approaches provide method-specific behavior, which has been recognized in experiments with real data. The obtained results are compared and further improvements of the localization robustness via their combination are discussed.
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
基于距离扫描的复杂环境下移动机器人定位方法
介绍了不同品牌的室内移动机器人位置定位方法的设计和比较。这两种方法都是基于基于tof的激光测距系统收集的测量数据,从工作环境的结构中得出机器人的相对位置。第一种方法使用场景的统计描述,而另一种方法依赖于基于特征的匹配方法。这两种方法都提供了方法特定的行为,这在实际数据的实验中得到了认可。对得到的结果进行了比较,并讨论了通过两者的结合进一步提高定位鲁棒性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 去求助
来源期刊
自引率
0.00%
发文量
0
期刊最新文献
Lessons learned in interfacing dynamic message signs with a trunked radio system Three approaches to the dynamic network loading problem The CarLink II pilot program: testing a commuter-based carsharing model Recent trends in automatic train controls Conflict detection and planar resolution for air traffic control
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1