NDLI: Adaptive localization for mobile robots in urban environments using low-cost sensors and enhanced topological map

Content Provider	IEEE Xplore Digital Library
Author	Yu-Cheol Lee Christiand Wonpil Yu Jae-Il Cho
Copyright Year	2011
Description	Author affiliation: Robot and Cognition Research Department, Electronics and Telecommunications Research Institute, Daejeon, 305-700, South Korea (Yu-Cheol Lee; Christiand; Wonpil Yu; Jae-Il Cho)
Abstract	This paper presents a technique for accurate localization of mobile robots using an enhanced topological map and using the low-cost sensors such as wheel odometer, global positioning system (GPS), and mono-camera. The localization framework is based on EKF to fuse the sensor data and the topological map. The sensor data include the positions of traffic marks measured by camera and topological map having the actual positions of traffic marks extracted from aerial or satellite images in advance. Our approach obtains the adaptive parameter for EKF localization by matching two positions, measured by camera and extracted from topological map, on each traffic mark. The adaptive parameter reflects the geographical characteristics, e.g. hill, corner, and road surfaces. The proposed method has shown high accuracy result and apparently better performance of the EKF localization with adaptive parameter. The proposed method is economically feasible and practically applicable to commercial robots using the low-cost sensors and providing the reliable localization services.
Starting Page	569
Ending Page	575
File Size	2311631
Page Count	7
File Format	PDF
ISBN	9781457711589
e-ISBN	9781457711596
DOI	10.1109/ICAR.2011.6088559
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-20
Publisher Place	Estonia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Global Positioning System Robot sensing systems Mobile robots Robot kinematics Detectors
Content Type	Text
Resource Type	Article

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