Map building and localization using 2D range scanner

Author

Zezhong, Xu ; Jilin, Liu ; Zhiyu, Xiang

Author_Institution

Dept. of Inf. Sci. & Electron. Eng., Zhejiang Univ., Hangzhou, China

Volume

2

fYear

2003

fDate

16-20 July 2003

Firstpage

848

Abstract

This paper presents a global localization method based on map matching. A local map is built by successive splitting and merging scan points. A global map is built by merging all local maps. Local and global map are represented with line segments that are sorted counterclockwise. Complete line segments are selected to match between two maps. Matching is based on relative position relation of complete line segment. The localization algorithm based on an ordinal map and relative position improves the matching efficiency and lowers computational cost. All these techniques have been implemented on our mobile robot ATRVII equipped with 2D laser range scanner SICK.

Keywords

feature extraction; laser ranging; mobile robots; navigation; optical scanners; path planning; 2D laser range scanner; computational cost; global localization method; line segment extraction; localization algorithm; map building; map matching; merging scan points; mobile robot; ordinal map; relative position relation; successive splitting method; Computational efficiency; Distributed computing; Filtering; Kalman filters; Merging; Mobile computing; Mobile robots; Navigation; Orbital robotics; State-space methods;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on

Print_ISBN

0-7803-7866-0

Type

conf

DOI

10.1109/CIRA.2003.1222290

Filename

1222290