Continuous localization for long-range indoor navigation of mobile robots
- 19 November 2002
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1, 387-394 vol.1
- https://doi.org/10.1109/robot.1995.525315
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
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