Enhanced Monte Carlo Localization with Visual Place Recognition for Robust Robot Localization

被引：18

作者：

Perez, Javier ^{[1
]}

Caballero, Fernando ^{[2
]}

Merino, Luis ^{[1
]}

机构：

[1] Univ Pablo de Olavide, Seville, Spain

[2] Univ Seville, Seville, Spain

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2015年 / 80卷 / 3-4期

关键词：

Monte Carlo localization; Long-term localization; Robust localization; Crowded environment; BAGS;

D O I：

10.1007/s10846-015-0198-y

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper proposes extending Monte Carlo Localization methods with visual place recognition information in order to build a robust robot localization system. This system is aimed to work in crowded and non-planar scenarios, where 2D laser rangefinders may not always be enough to match the robot position within the map. Thus, visual place recognition will be used in order to obtain robot position clues that can be used to detect when the robot is lost and also to reset its positions to the right one. The paper presents experimental results based on datasets gathered with a real robot in challenging scenarios.

引用

页码：641 / 656

页数：16

共 50 条

[31] Information Monte Carlo Localization Algorithm for Fusing Distributed Perception
Liang Zhiwei
Zhu Songhao
PROCEEDINGS OF THE 29TH CHINESE CONTROL CONFERENCE, 2010, : 3722 - 3727
[32] Ball tracking with velocity based on Monte-Carlo localization
Inoue, Jun
Ishino, Akira
Shinohara, Ayumi
INTELLIGENT AUTONOMOUS SYSTEMS 9, 2006, : 686 - +
[33] Efficiency improvement in Monte Carlo localization through topological information
Kwon, Tae-Bum
Yang, Ju-Ho
Song, Jae-Bok
Chung, Woojin
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, : 424 - +
[34] New Solutions to the Premature Convergence Problem in Monte Carlo Localization
Chien, Chiang-Heng
Hsu, Chen-Chien
Wang, Wei-Yen
Kao, Wen-Chung
Chien, Chiang-Ju
2016 IEEE 6TH INTERNATIONAL CONFERENCE ON CONSUMER ELECTRONICS - BERLIN (ICCE-BERLIN), 2016,
[35] Tackling the premature convergence problem in Monte-Carlo localization
Kootstra, Gert
de Boer, Bart
ROBOTICS AND AUTONOMOUS SYSTEMS, 2009, 57 (11) : 1107 - 1118
[36] Monte-carlo localization for mobile wireless sensor networks
Baggio, Aline
Langendoen, Koen
MOBILE AD-HOC AND SENSOR NETWORKS, PROCEEDINGS, 2006, 4325 : 317 - +
[37] Particle Filter Based Robust Mobile Robot Localization
Wang, Dongsheng
Zhao, Jianchao
Wang, Wei
2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS, 2009, : 817 - 821
[38] Indoor Localization Using Magnetic Field Anomalies and Inertial Measurement Units Based on Monte Carlo Localization
Fentaw, Haftu Wedajo
Kim, Tae-Hyong
2017 NINTH INTERNATIONAL CONFERENCE ON UBIQUITOUS AND FUTURE NETWORKS (ICUFN 2017), 2017, : 33 - 37
[39] Localization and Feature Recognition: Implementation on an Indoor Navigator Robot
Lye, Zhenjun
Nisar, Humaira
Lai, Koonchun
Yeap, Kimho
2014 10TH FRANCE-JAPAN/ 8TH EUROPE-ASIA CONGRESS ON MECATRONICS (MECATRONICS), 2014, : 238 - 243
[40] SOFTWARE FOR THE LEARNING OF MONTE CARLO LOCALIZATION STRATEGIES USING OMNIDIRECTIONAL IMAGES
Fernandez, L.
Reinoso, O.
Paya, L.
Gil, A.
Ballesta, M.
3RD INTERNATIONAL CONFERENCE OF EDUCATION, RESEARCH AND INNOVATION (ICERI2010), 2010, : 1248 - 1257

← 1 2 3 4 5 →