Title :
Continuous localization for long-range indoor navigation of mobile robots
Author :
Horn, Joachim ; Schmidt, Günther
Author_Institution :
Dept. of Autom. Control Eng., Tech. Univ. Munchen, Germany
Abstract :
This article describes the localization system of a free-navigating mobile robot. Absolute position and orientation of the vehicle are determined by matching vertical planar surfaces extracted from a 3D-laser-range-image with corresponding surfaces predicted from a 3D-environmental model. Continuous localization is achieved by fusing single-image localization and dead-reckoning data by means of a statistical uncertainty evolution technique. Extensive closed-loop experiments with the full-scale mobile robot MAC-ROBE proved robustness, accuracy and real-time capability of this localization scheme
Keywords :
computerised navigation; laser ranging; mobile robots; navigation; position measurement; 3D laser range image; MAC-ROBE; absolute orientation determination; absolute position determination; accuracy; closed-loop experiments; continuous localization; data fusion; dead-reckoning data; free-navigating mobile robot; long-range indoor navigation; mobile robots; real-time capability; robustness; single-image localization; statistical uncertainty evolution technique; surface extraction; vertical planar surface matching; Guidelines; Image sensors; Indoor environments; Laser modes; Mobile robots; Navigation; Production facilities; Robustness; Vehicles; Vertical cavity surface emitting lasers;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525315
