Bayesian programming for topological global localization with fingerprints

Author

Tapus, Adriana ; Heinzer, Stefan ; Siegwart, Roland

Author_Institution

Autonomous Syst. Lab., Swiss Fed. Inst. of Technol., Lausanne, Switzerland

Volume

1

fYear

2004

fDate

26 April-1 May 2004

Firstpage

598

Abstract

This work presents a localization algorithm for indoor environments. The environmental model is topological and the approach describes how a multimodal perception increases the reliability for the topological localization problem for mobile robots, by using the Bayesian programming formalism. For the topological framework the fingerprint concept is used. This type of representation permits a reliable and distinctive environment modeling. Experimental results of a mobile robot equipped with a multi sensor system composed of two 180° laser range finders and an omni-directional camera are reported.

Keywords

belief networks; laser ranging; mobile robots; sensor fusion; 180° laser range finders; Bayesian programming; environmental model; fingerprint concept; mobile robots; multi sensor system; multimodal perception; omnidirectional camera; topological global localization; Bayesian methods; Cameras; Context modeling; Fingerprint recognition; Indoor environments; Mobile robots; Navigation; Robot programming; Robot sensing systems; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-8232-3

Type

conf

DOI

10.1109/ROBOT.2004.1307214

Filename

1307214