Localizability Estimation based on Occupancy Grid Maps

Simultaneous localization and mapping (SLAM) is a widely used technique in autonomous mobile robots. This study deals with the estimation of localizability, which indicates the reliability of localization at each location on the occupancy grid maps created by SLAM. There are several approaches to es...

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Main Authors: Kondo, Maiku, Hoshi, Masahiko, Hara, Yoshitaka, Nakamura, Sousuke
Format: Conference Proceeding
Language:English
Subjects:
Computational modeling
Correlation
Estimation
Location awareness
Mechatronics
Simultaneous localization and mapping
Uncertainty
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Hoshi, Masahiko
Hara, Yoshitaka
Nakamura, Sousuke
description Simultaneous localization and mapping (SLAM) is a widely used technique in autonomous mobile robots. This study deals with the estimation of localizability, which indicates the reliability of localization at each location on the occupancy grid maps created by SLAM. There are several approaches to estimate localizability, this paper proposes a method using local map correlation. Our method represents the localizability using a covariance matrix of a Gaussian distribution, not just a scalar value. The simulation experiment results showed that the uncertainty of localizability increased at locations where degeneration is likely to occur, suggesting that localizability could be estimated appropriately.
doi_str_mv 10.1109/AIM52237.2022.9863325
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subjects Computational modeling
Correlation
Estimation
Location awareness
Mechatronics
Simultaneous localization and mapping
Uncertainty
title Localizability Estimation based on Occupancy Grid Maps
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