DocumentCode :
663382
Title :
C-LOG: A Chamfer Distance based method for localisation in occupancy grid-maps
Author :
Dantanarayana, Lakshitha ; Ranasinghe, Ravindra ; Dissanayake, Gamini
Author_Institution :
Centre for Autonomous Syst., Univ. of Technol., Sydney, NSW, Australia
fYear :
2013
fDate :
3-7 Nov. 2013
Firstpage :
376
Lastpage :
381
Abstract :
In this paper, the problem of localising a robot within a known two-dimensional environment is formulated as one of minimising the Chamfer Distance between the corresponding occupancy grid map and information gathered from a sensor such as a laser range finder. It is shown that this nonlinear optimisation problem can be solved efficiently and that the resulting localisation algorithm has a number of attractive characteristics when compared with the conventional particle filter based solution for robot localisation in occupancy grids. The proposed algorithm is able to perform well even when robot odometry is unavailable, insensitive to noise models and does not critically depend on any tuning parameters. Experimental results based on a number of public domain datasets as well as data collected by the authors are used to demonstrate the effectiveness of the proposed algorithm.
Keywords :
mobile robots; nonlinear programming; optical sensors; path planning; C-LOG algorithm; chamfer distance based method; laser range finder; noise models; nonlinear optimisation problem; occupancy grid-maps; particle filter; public domain datasets; robot localization problem; robot odometry; sensor; tuning parameters; Image edge detection; Lasers; Optimization; Robot kinematics; Robot sensing systems; Transforms;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Conference_Location :
Tokyo
ISSN :
2153-0858
Type :
conf
DOI :
10.1109/IROS.2013.6696379
Filename :
6696379
Link To Document :
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