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:
  • Publication Date: 2001


  • English

Media Info

  • Pagination: p. 280-285

Subject/Index Terms

Filing Info

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