TY - GEN
T1 - 6-DOF localization for a mobile robot using outdoor 3D voxel maps
AU - Suzuki, Taro
AU - Kitamura, Mitsunori
AU - Amano, Yoshiharu
AU - Hashizume, Takumi
PY - 2010/12/1
Y1 - 2010/12/1
N2 - 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.
AB - 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.
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U2 - 10.1109/IROS.2010.5652983
DO - 10.1109/IROS.2010.5652983
M3 - Conference contribution
AN - SCOPUS:78651507484
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 5737
EP - 5743
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -