Mobile robot localization with sparse landmarks

被引：1
|
作者：
Fairfield, N
Maxwell, B
机构：
[1] Bluefin Robotics, Quincy, 02169
[2] Swarthmore College, Swarthmore, 19081
来源：
MOBILE ROBOTS XVI | 2002年 / 4573卷
关键词：
localization; Kalman filter; landmark; mobile robot;
D O I：
10.1117/12.457439
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper describes a mobile robot system designed to explore and map an indoor area such as is encountered in urban search and rescue mock-ups. The robot uses homogeneous artificial landmarks deployed during exploration for localization as it constructs a map, determining landmark distance and bearing with groundplane calculations from a single camera and using Kalman filtering techniques to perform localization. When imple mented on a Magellan II mobile robot, the localization technique correctly localized the robot while exploring and mapping.
引用
收藏
页码：148 / 155
页数：8
相关论文
共 50 条
  • [1] Mobile robot localization using landmarks
    Betke, M
    Gurvits, L
    IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1997, 13 (02): : 251 - 263
  • [2] Mobile robot localization from learned landmarks
    Sim, R
    Dudek, G
    1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3: INNOVATIONS IN THEORY, PRACTICE AND APPLICATIONS, 1998, : 1060 - 1065
  • [3] Mobile Robot Localization Using Indistinguishable Artificial Landmarks
    Seong, Jihoon
    Kim, Jiwoong
    Chung, Woojin
    2013 10TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI), 2013, : 222 - 224
  • [4] Robust Mobile Robot Localization by Tracking Natural Landmarks
    Feng, Xiaowei
    Guo, Shuai
    Li, Xianhua
    He, Yongyi
    ARTIFICIAL INTELLIGENCE AND COMPUTATIONAL INTELLIGENCE, PROCEEDINGS, 2009, 5855 : 278 - 287
  • [5] Mobile robot localization using infrared light reflecting landmarks
    Lee, Sooyong
    Song, Jae-Bok
    2007 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-6, 2007, : 2338 - 2341
  • [6] Mobile Robot Self-Localization without Explicit Landmarks
    R. G. Brown
    B. R. Donald
    Algorithmica, 2000, 26 : 515 - 559
  • [7] Mobile robot self-localization without explicit landmarks
    Brown, RG
    Donald, BR
    ALGORITHMICA, 2000, 26 (3-4) : 515 - 559
  • [8] Use of coded infrared light as artificial landmarks for mobile robot localization
    Lee, Sooyong
    Song, Jae-Bok
    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, 2007, : 1737 - +
  • [9] Visual localization of a mobile robot in indoor environments using planar landmarks
    Ayala, V
    Hayet, JB
    Lerasle, F
    Devy, M
    2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS, 2000, : 275 - 280
  • [10] MOBILE ROBOT LOCALIZATION SCHEME BASED ON FUSION OF RFID AND VISUAL LANDMARKS
    Raoui, Younes
    Bouyakhf, El Houssine
    Devy, Michel
    ICINCO 2011: PROCEEDINGS OF THE 8TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 2, 2011, : 296 - 299
12345