RANGE SCAN-BASED LOCALIZATION METHODS FOR MOBILE ROBOTS IN COMPLEX ENVIRONMENTS

This paper presents the design and comparison of two different methods for position localization of indoor mobile robots. Both methods derive the robot relative position from a structure of the working environment that is based on measurements gathered by a laser ranging system. The first method applies a statistical description of the scene while the second one relies on a feature-based matching approach. Both approaches provide method-specific behavior. Results from experiments are compared, and further improvements of the localization robustness through their combination are discussed.

• Supplemental Notes:
  • Publication Date: 2001. IEEE Service Center, Piscataway NJ
• Corporate Authors:

  Siemens Aktiengesellschaft

  Machtfinger Strasse 10, Postfach 100079
  8000 Munich,   Germany 

  Texas A&M University, College Station

  Department of Mechanical Engineering
  College Station, TX  United States  77843-3123

  National Science Foundation

  1800 G Street, NW
  Washington, DC  United States  20550

  University of California, Berkeley

  California PATH Program, Institute of Transportation Studies
  Richmond Field Station, 1357 South 46th Street
  Richmond, CA  United States  94804-4648

  Universidad Nacional Autonoma de Mexico. Instituto de Ingenieria

  ,    

  University of California, Berkeley

  Department of Mechanical Engineering
  Berkeley, CA  United States  94720-1740

  DaimlerChrysler Forschungszentrum in Ulm

  ,    

  Technische Universitat Munchen. Fachgebiet Verkehrsplanung und Verkehrsplanung

  ,    

  University of California, Irvine

  Institute of Transportation Studies
  4000 Anteater Instruction and Research Building
  Irvine, CA  United States  92697

  Nanyang Technological University

  Centre for High Performance Embedded Systems
  Singapore,   Singapore 
• Authors:
  • Mazl, Roman
  • Kulich, Miroslav
  • Preucil, Libor
• Conference:
  • IEEE Intelligent Transportation Systems Conference (2001 : Oakland Calif.). 2001 IEEE intelligent transportation systems proceedings
• Publication Date: 2001

Language

• English

Media Info

• Pagination: p. 280-285

Subject/Index Terms

• TRT Terms: Lasers; Rangefinders; Robotics

Filing Info

• Accession Number: 00963576
• Record Type: Publication
• Source Agency: UC Berkeley Transportation Library
• Files: PATH
• Created Date: Oct 2 2003 12:00AM