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

Taro Suzuki, Mitsunori Kitamura, Yoshiharu Amano, Takumi Hashizume

研究成果: Conference contribution

31 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトルIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
ページ5737-5743
ページ数7
DOI
出版物ステータスPublished - 2010 12 1
イベント23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
継続期間: 2010 10 182010 10 22

出版物シリーズ

名前IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Conference

Conference23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Taiwan, Province of China
Taipei
期間10/10/1810/10/22

ASJC Scopus subject areas

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

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  • これを引用

    Suzuki, T., Kitamura, M., Amano, Y., & Hashizume, T. (2010). 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 (pp. 5737-5743). [5652983] (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). https://doi.org/10.1109/IROS.2010.5652983