Continuous localization for long-range indoor navigation of mobile robots

Author

Horn, Joachim ; Schmidt, Günther

Author_Institution

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

Volume

1

fYear

1995

fDate

21-27 May 1995

Firstpage

387

Abstract

This article describes the localization system of a free-navigating mobile robot. Absolute position and orientation of the vehicle are determined by matching vertical planar surfaces extracted from a 3D-laser-range-image with corresponding surfaces predicted from a 3D-environmental model. Continuous localization is achieved by fusing single-image localization and dead-reckoning data by means of a statistical uncertainty evolution technique. Extensive closed-loop experiments with the full-scale mobile robot MAC-ROBE proved robustness, accuracy and real-time capability of this localization scheme

Keywords

computerised navigation; laser ranging; mobile robots; navigation; position measurement; 3D laser range image; MAC-ROBE; absolute orientation determination; absolute position determination; accuracy; closed-loop experiments; continuous localization; data fusion; dead-reckoning data; free-navigating mobile robot; long-range indoor navigation; mobile robots; real-time capability; robustness; single-image localization; statistical uncertainty evolution technique; surface extraction; vertical planar surface matching; Guidelines; Image sensors; Indoor environments; Laser modes; Mobile robots; Navigation; Production facilities; Robustness; Vehicles; Vertical cavity surface emitting lasers;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on

Conference_Location

Nagoya

ISSN

1050-4729

Print_ISBN

0-7803-1965-6

Type

conf

DOI

10.1109/ROBOT.1995.525315

Filename

525315