Title :
Laser Based Localization Techniques for Indoor Mobile Robots
Author :
Tamas, Levente ; Lazea, Gheorghe ; Popa, Mircea ; Szoke, Istvan ; Majdik, Andras
Author_Institution :
Autom. Dept., Tech. Univ. of Cluj-Napoca, Cluj-Napoca, Romania
Abstract :
The localization problem in indoor environment based on LIDAR measurements is analyzed in this paper. Practical aspects of the localization are discussed including the implementations of the state estimation and registration algorithms. The localization framework developed is sufficient generic to be used in a variety of other autonomous vehicles. The results of the proposed navigation algorithms demonstrate a reliable and accurate position estimation for autonomous vehicles operating in a variety of environments.
Keywords :
laser ranging; mobile robots; optical radar; position control; LIDAR measurements; autonomous vehicles; indoor mobile robots; laser based localization techniques; position estimation; registration algorithms; state estimation algorithms; Error correction; Indoor environments; Laser modes; Laser radar; Mobile robots; Navigation; Remotely operated vehicles; Robot sensing systems; State estimation; Uncertainty; Mobile robots; laser scan alignment; localization; state estimation;
Conference_Titel :
Advanced Technologies for Enhanced Quality of Life, 2009. AT-EQUAL '09.
Conference_Location :
Iasi
Print_ISBN :
978-0-7695-3753-5
DOI :
10.1109/AT-EQUAL.2009.43
