DocumentCode :
3709689
Title :
Monte Carlo localization in hand-drawn maps
Author :
Bahram Behzadian;Pratik Agarwal;Wolfram Burgard;Gian Diego Tipaldi
Author_Institution :
University of Freiburg, Institute of Computer Science, 79110, Germany
fYear :
2015
Firstpage :
4291
Lastpage :
4296
Abstract :
Robot localization is one of the most important problems in robotics. Most of the existing approaches assume that the map of the environment is available beforehand and focus on accurate metrical localization. In this paper, we address the localization problem when the map of the environment is not present beforehand, and the robot relies on a hand-drawn map from a non-expert user. We addressed this problem by expressing the robot pose in the pixel coordinate and simultaneously estimate a local deformation of the hand-drawn map. Experiments show that we can successfully identify the room in which the robot is located in 80% of the tests.
Keywords :
"Robot kinematics","Robot sensing systems","Proposals","Monte Carlo methods","Computational modeling","Measurement by laser beam"
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on
Type :
conf
DOI :
10.1109/IROS.2015.7353985
Filename :
7353985
Link To Document :
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