Geometrical matching for mobile robot localization

Deals with an absolute mobile robot self-localization algorithm given a two-dimensional cartography of the robot's environment. The proposed method only requires the goniometrical observations. We present an original solution to compute the robot's pose estimation by an interpretation tree...

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Bibliographic Details
Published in:IEEE transactions on robotics and automation 2000-10, Vol.16 (5), p.542-552
Main Authors: Mouaddib, E.M., Marhic, B.
Format: Article
Language:English
Subjects:
Algorithms
Automation
Computer Science
Computer Vision and Pattern Recognition
Image sensors
Information technology
Matching
Mechanical engineering
Mobile robots
Navigation
Robot sensing systems
Robotics
Robotics and automation
Robots
Searching
Sensor phenomena and characterization
Sensors
Sonar
Subdivisions
Testing
Uncertainty
Wheels
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Summary:Deals with an absolute mobile robot self-localization algorithm given a two-dimensional cartography of the robot's environment. The proposed method only requires the goniometrical observations. We present an original solution to compute the robot's pose estimation by an interpretation tree (IT) search. Our approach introduces the subdivision of the robot's evolution field into rectangles. The matching between the observations and the visual landmarks is effected by judicious angular tests (heuristics for the IT). Moreover, we show that our matching method implicitly takes uncertainties and inaccuracies into account. Finally, some experimental results with real noisy omnidirectional images, provided by our omnidirectional vision sensor SYCLOP, are shown.
ISSN:1042-296X
2374-958X
DOI:10.1109/70.880804