Title :
A probabilistic approach to Hough localization
Author :
Iocchi, Luca ; Mastrantuono, Domenico ; Nardi, Daniele
Author_Institution :
Dipartimento di Informatica e Sistemistica, Univ. di Roma La Sapienza, Italy
Abstract :
Autonomous navigation for mobile robots performing complex tasks over long periods of time requires effective and robust self-localization techniques. We describe a probabilistic approach to self-localization that integrates Kalman filtering with map matching based on the Hough transform. Several systematic experiments for evaluating the approach have been performed both on a simulator and on soccer robots embedded in the RoboCup environment.
Keywords :
Hough transforms; Kalman filters; filtering theory; mobile robots; path planning; probability; Hough localization; Hough transform; Kalman filtering; RoboCup environment; autonomous navigation; complex tasks; map matching; mobile robots; probabilistic approach; self-localization techniques; soccer robots; Kalman filters; Mobile robots; Navigation; Orbital robotics; Performance evaluation; Robot kinematics; Robot sensing systems; Robot vision systems; Robustness; Sensor phenomena and characterization;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933282
