NDLI: Range sensor data filtering for mobile robot localization

Content Provider	IEEE Xplore Digital Library
Author	Baek, S. Hyunwoong Park Sooyong Lee
Copyright Year	2005
Description	Author affiliation: Dept. of Mech. & Syst. Design Eng., Hong Ik Univ., Seoul (Baek, S.; Hyunwoong Park; Sooyong Lee) Estimating the configuration is one of the key issues for successful mobile robot navigation. Dead-reckoning is simple and fast but it can lead to inaccurate or unreliable estimates. Range sensors are widely used in known environment for localization, but it may not always work due to sensor range limit. Optical flow sensor such as the optical mouse gives accurate relative movement but it requires strict vertical placement. This paper introduces new way of estimating robot configuration by combining the consecutive range sensor data and optical flow information in known environment. Feature extraction from range sensor information and estimation of the relative movement using optical flow sensors are investigated. The proposed method is implemented and tested with a mobile robot
Starting Page	516
Ending Page	521
File Size	636116
Page Count	6
File Format	PDF
ISBN	0780390474
DOI	10.1109/AIM.2005.1511034
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-07-24
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Filtering Mobile robots Optical sensors Optical filters Image motion analysis Navigation Mice Robot sensing systems Feature extraction Testing
Content Type	Text
Resource Type	Article

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