6-DOF localization for a mobile robot using outdoor 3D voxel maps

Taro Suzuki, Mitsunori Kitamura, Yoshiharu Amano, Takumi Hashizume

Research output: Chapter in Book/Report/Conference proceedingConference contribution

30 Citations (Scopus)

Abstract

This paper describes outdoor localization for a mobile robot using a laser scanner and a three-dimensional (3D) voxel map that is based on outdoor point clouds. A mobile mapping system (MMS) measures outdoor 3D point clouds easily and precisely. The complete 6D state of a mobile robot is estimated by combining dead reckoning and the 3D voxel map. The 2D position and orientation are extended to 3D by using the 3D voxel map and by assuming that the mobile robot remains in continuous contact with the road surface. Our approach applies a particle filter to correct position errors in the laser measurement model for a 3D point cloud space. Field experiments were performed to evaluate the accuracy of our proposed method. Our results confirmed that it is possible to achieve a localization precision of 0.2 m (RMS) using our proposed method.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages5737-5743
Number of pages7
DOIs
Publication statusPublished - 2010
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei
Duration: 2010 Oct 182010 Oct 22

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CityTaipei
Period10/10/1810/10/22

Fingerprint

Mobile robots
Lasers
Experiments

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Suzuki, T., Kitamura, M., Amano, Y., & Hashizume, T. (2010). 6-DOF localization for a mobile robot using outdoor 3D voxel maps. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 5737-5743). [5652983] https://doi.org/10.1109/IROS.2010.5652983

6-DOF localization for a mobile robot using outdoor 3D voxel maps. / Suzuki, Taro; Kitamura, Mitsunori; Amano, Yoshiharu; Hashizume, Takumi.

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. p. 5737-5743 5652983.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Suzuki, T, Kitamura, M, Amano, Y & Hashizume, T 2010, 6-DOF localization for a mobile robot using outdoor 3D voxel maps. in IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings., 5652983, pp. 5737-5743, 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010, Taipei, 10/10/18. https://doi.org/10.1109/IROS.2010.5652983
Suzuki T, Kitamura M, Amano Y, Hashizume T. 6-DOF localization for a mobile robot using outdoor 3D voxel maps. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. p. 5737-5743. 5652983 https://doi.org/10.1109/IROS.2010.5652983
Suzuki, Taro ; Kitamura, Mitsunori ; Amano, Yoshiharu ; Hashizume, Takumi. / 6-DOF localization for a mobile robot using outdoor 3D voxel maps. IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. pp. 5737-5743
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