NDLI: Coarse-to-fine global localization for mobile robots with hybrid maps of objects and spatial layouts

Content Provider	IEEE Xplore Digital Library
Author	Soonyong Park Howon Cheong Sung-Kee Park
Copyright Year	2009
Description	Author affiliation: Center for Cognitive Robotics Research at the Korea Institute of Science and Technology (KIST), 39-1 Hawolgok-dong, Sungbuk-gu, Seoul, Korea (Soonyong Park; Howon Cheong; Sung-Kee Park)
Abstract	This paper proposes a novel global localization approach that uses hybrid maps of objects and spatial layouts. We model indoor environments using the following visual cues from a stereo camera: local invariant features for object recognition and their 3D positions for object location representation. We also use a 2D laser range finder. Therefore, we can build a hybrid local node for a topological map that is composed of an object location map and a spatial layout map. Based on this modeling, we suggest a coarse-to-fine strategy for the global localization. The coarse pose is obtained by means of object recognition and point cloud fitting, and then its fine pose is estimated with a probabilistic scan matching algorithm. With real experiments, we show that our proposed method can be an effective global localization algorithm.
Starting Page	3993
Ending Page	4000
File Size	803994
Page Count	8
File Format	PDF
ISBN	9781424438037
DOI	10.1109/IROS.2009.5354193
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Object recognition Robot sensing systems Image recognition Image databases Clouds Laser modes Cameras Infrared sensors Intelligent robots
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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