Localization Fault Detection Method using 2D LiDAR and Fisheye Camera for an Autonomous Mobile Robot Control

被引：1

作者：

Nakamura, Yoshimasa ^{[1
]}

Sasaki, Akinori ^{[1
]}

Toda, Yuichiro ^{[2
]}

Kubota, Naoyuki ^{[3
]}

机构：

[1] Tokyo Metropolitan Ind Technol Res Inst, Robot Technol Grp, Tokyo, Japan

[2] Okayama Univ, Fac Environm Life Nat Sci & Technol, Okayama, Japan

[3] Tokyo Metropolitan Univ, Grad Sch Syst Design, Tokyo, Japan

来源：

2024 SICE INTERNATIONAL SYMPOSIUM ON CONTROL SYSTEMS, SICE ISCS 2024 | 2024年

关键词：

Localization Fault Detection; Sensor Fusion; Mobile Robot; FAB-MAP; FEATURES; SCALE;

D O I：

10.23919/SICEISCS60954.2024.10505755

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Localization is an important function of autonomous mobile robots, and autonomous actions caused by incorrectly estimated robot posture may lead to major accidents. In this study, we propose a fault detection function of localization using 2D LiDAR and fisheye camera. The proposed fault detection method focuses on the likelihood to detect faults, which can be improved by suppressing the update of the particle filter based localization. We conducted several experiments in real environments to verify the effectiveness of our proposed method.

引用

页码：32 / 39

页数：8

共 27 条

[1] Misalignment Recognition Using Markov Random Fields With Fully Connected Latent Variables for Detecting Localization Failures [J].

Akai, Naoki ;

Morales, Luis Yoichi ;

Hirayam, Takatsugu ;

Murase, Hiroshi .

IEEE ROBOTICS AND AUTOMATION LETTERS, 2019, 4 (04) :3955-3962

[2] Simultaneous pose and reliability estimation using convolutional neural network and Rao-Blackwellized particle filter [J].

Akai, Naoki ;

Morales, Luis Yoichi ;

Murase, Hiroshi .

ADVANCED ROBOTICS, 2018, 32 (17) :930-944

[3] Learning to detect misaligned point clouds [J].

Almqvist, Hakan ;

Magnusson, Martin ;

Kucner, Tomasz P. ;

Lilienthal, Achim J. .

JOURNAL OF FIELD ROBOTICS, 2018, 35 (05) :662-677

[4]

Alsayed Z, 2017, IEEE INT C INTELL TR

[5] Speeded-Up Robust Features (SURF) [J].

Bay, Herbert ;

Ess, Andreas ;

Tuytelaars, Tinne ;

Van Gool, Luc .

COMPUTER VISION AND IMAGE UNDERSTANDING, 2008, 110 (03) :346-359

[6] A METHOD FOR REGISTRATION OF 3-D SHAPES [J].

BESL, PJ ;

MCKAY, ND .

IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE, 1992, 14 (02) :239-256

[7] An accurate closed-form estimate of ICP's covariance [J].

Censi, Andrea .

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007, :3167-3172

[8]

Csurka Gabriella, 2004, P WORKSH STAT LEARN, P1

[9] FAB-MAP: Probabilistic localization and mapping in the space of appearance [J].

Cummins, Mark ;

Newman, Paul .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2008, 27 (06) :647-665

[10] Appearance-only SLAM at large scale with FAB-MAP 2.0 [J].

Cummins, Mark ;

Newman, Paul .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2011, 30 (09) :1100-1123

← 1 2 3 →