Title :
Absolute localization of mobile robots using natural landmarks
Author :
Arsenio, Artur ; Ribeiro, M. Isabel
Author_Institution :
Inst. de Sistemas e Robotica, Inst. Superior Tecnico, Lisbon, Portugal
Abstract :
This paper proposes an absolute localization procedure for a mobile robot based on the detection of natural landmarks by a laser range finder. The algorithm´s novelty is a two step probabilistic integration of all data by an extended Kalman filter, yielding a location estimate and the associated uncertainty. An off-line map partition provides edge visibility information efficiently used on-line during the localization procedures
Keywords :
Kalman filters; active vision; edge detection; laser ranging; mobile robots; robot vision; absolute localization; edge visibility information; extended Kalman filter; laser range finder; localization procedures; location estimate; mobile robots; natural landmarks; off-line map partition; two step probabilistic integration; uncertainty; Geometry; Mobile robots; Partitioning algorithms; Solid modeling; Uncertainty; Vehicles; Yield estimation;
Conference_Titel :
Electronics, Circuits and Systems, 1998 IEEE International Conference on
Conference_Location :
Lisboa
Print_ISBN :
0-7803-5008-1
DOI :
10.1109/ICECS.1998.814926
