DocumentCode
1982909
Title
Toward real-time 2D localization in outdoor environments
Author
Mallet, Anthony ; Lacroix, Simon
Author_Institution
Lab. d´´Autom. et d´´Anal. des Syst., CNRS, Toulouse, France
Volume
4
fYear
1998
fDate
16-20 May 1998
Firstpage
2827
Abstract
We present an approach to refine the pose estimate of an outdoor mobile robot evolving on flat terrains cluttered with obstacles. We propose an algorithm to extract relevant obstacle contour lines on the basis of stereo-vision data. The algorithm is very robust with respect to the uncertainties on the data, and do not require a very fine and precise obstacle extraction procedure. We explain how the contour lines are compared from one image to another to refine the pose estimate provided by the robot internal sensors
Keywords
feature extraction; mobile robots; path planning; position measurement; stereo image processing; contour lines; flat terrains; internal sensors; obstacles; outdoor environments; outdoor mobile robot; pose estimate; real-time 2D localization; stereo-vision data; Data mining; Data processing; Image sensors; Rain; Robot sensing systems; Robustness; Sensor phenomena and characterization; Shape; System testing; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location
Leuven
ISSN
1050-4729
Print_ISBN
0-7803-4300-X
Type
conf
DOI
10.1109/ROBOT.1998.680481
Filename
680481
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