Localization of a mobile robot by matching 3D-laser-range-images and predicted sensor images

Author

Horn, Joachim ; Russ, Joachim

Author_Institution

Dept. of Autom. Control Eng., Tech. Univ. Munchen, Germany

fYear

1994

fDate

24-26 Oct. 1994

Firstpage

345

Lastpage

350

Abstract

This article describes a system for localization of a mobile robot. Position and orientation of the vehicle are determined by extracting vertical surfaces from a 3D-laser-range-image, which are matched with surfaces predicted from an environmental model. The use of predicted sensor images accelerates the segmentation and matching processes by focussing on regions of interest. The three main components 3D-laser-range-camera, environmental model and the localization algorithm are presented in detail. Quantitative results for localization in laboratory and manufacturing environments proved accuracy, robustness and real-time capability of this localization system.

Keywords

image matching; image segmentation; laser ranging; mobile robots; position measurement; 3D-laser-range-camera; 3D-laser-range-images; image matching; image segmentation; mobile robot localization; orientation determination; position determination; predicted sensor images; quantitative results; real-time capability; robustness; vertical surfaces; Computer errors; Image segmentation; Image sensors; Laboratories; Laser beams; Mobile robots; Predictive models; Sensor phenomena and characterization; Sensor systems; Surface emitting lasers;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles '94 Symposium, Proceedings of the

Print_ISBN

0-7803-2135-9

Type

conf

DOI

10.1109/IVS.1994.639542

Filename

639542