Title :
Active range sensing for mobile robot localization
Author :
Arsénio, Artur ; Ribeiro, M. Isabel
Author_Institution :
Inst. Superior Tecnico, Lisbon, Portugal
Abstract :
Presents an active scheme for the localization of a mobile robot based on the detection of natural landmarks. Assuming that a partial 3D model of the environment is known a priori, an optimal and active choice of the landmark is supported on a new strategy for 3D map partition, yielding high updating rates of the location estimates. Good localization accuracy and robustness are achieved by combining laser range data with odometry, using Kalman filtering schemes
Keywords :
Kalman filters; active vision; filtering theory; laser ranging; mobile robots; object detection; path planning; robot vision; 3D map partition; Kalman filtering schemes; accuracy; active range sensing; laser range data; mobile robot localization; natural landmarks detection; odometry; partial 3D model; robustness; Filtering; Mobile robots; Navigation; Partitioning algorithms; Robot kinematics; Robot sensing systems; Robustness; Temperature sensors; Uncertainty; Yield estimation;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.727440
