Absolute localization of mobile robots using natural landmarks

This paper proposes an absolute localization procedure for a mobile robot based on the detection of natural landmarks by a laser range finder. The algorithm's novelty is a two step probabilistic integration of all data by an extended Kalman filter, yielding a location estimate and the associate...

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Bibliographic Details
Main Authors: Arsenio, A., Ribeiro, M.I.
Format: Conference Proceeding
Language:English
Subjects:
Geometry
Mobile robots
Partitioning algorithms
Solid modeling
Uncertainty
Vehicles
Yield estimation
Online Access:Request full text
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Summary:This paper proposes an absolute localization procedure for a mobile robot based on the detection of natural landmarks by a laser range finder. The algorithm's novelty is a two step probabilistic integration of all data by an extended Kalman filter, yielding a location estimate and the associated uncertainty. An off-line map partition provides edge visibility information efficiently used on-line during the localization procedures.
DOI:10.1109/ICECS.1998.814926