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Range scan-based localization methods for mobile robots in complex environments
The work introduces design and comparison of different-brand methods for position localization of indoor mobile robots. Both the methods derive the robot relative position from a structure of the working environment based on measurements gathered by a TOF-based laser ranging system. The first presented method applies statistical description of the scene while the other one relies on a feature-based matching approach. Both the approaches provide method-specific behavior, which has been recognized in experiments with real data. The obtained results are compared and further improvements of the localization robustness via their combination are discussed.
Range scan-based localization methods for mobile robots in complex environments
The work introduces design and comparison of different-brand methods for position localization of indoor mobile robots. Both the methods derive the robot relative position from a structure of the working environment based on measurements gathered by a TOF-based laser ranging system. The first presented method applies statistical description of the scene while the other one relies on a feature-based matching approach. Both the approaches provide method-specific behavior, which has been recognized in experiments with real data. The obtained results are compared and further improvements of the localization robustness via their combination are discussed.
Range scan-based localization methods for mobile robots in complex environments
Mazl, R. (author) / Kulich, M. (author) / Preucil, L. (author)
2001-01-01
458769 byte
Conference paper
Electronic Resource
English
Range Scan-Based Localization Methods for Mobile Robots in Complex Environments
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