Global Hough localization for mobile robots in polygonal environments

Author

Grisetti, Giorgio ; Iocchi, Luca ; Nardi, Daniele

Author_Institution

Dipt. di Inf. e Sistemistica, Rome Univ., Italy

Volume

1

fYear

2002

fDate

2002

Firstpage

353

Abstract

Knowing the position of a mobile robot in the environment in which it operates is an important element for effectively accomplishing complex tasks requiring autonomous navigation. Among several existing techniques for robot self-localization, a new approach called Hough localization was proposed for map matching in the Hough domain, that turned out to be reliable and efficient for position tracking in polygonal environments. In this paper we present an extension of Hough localization which is able to deal with the global localization problem, in which the robot does not know its initial position in the environment.

Keywords

Hough transforms; computational complexity; mobile robots; navigation; position control; self-adjusting systems; tracking; Hough transform; autonomous navigation; computational complexity; global self-localization; map matching; mobile robots; polygonal environments; position tracking; Computer crashes; Computer vision; Data mining; Feature extraction; Mobile robots; Navigation; Orbital robotics; Remuneration; Robot sensing systems; Sensor phenomena and characterization;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on

Print_ISBN

0-7803-7272-7

Type

conf

DOI

10.1109/ROBOT.2002.1013386

Filename

1013386