NDLI: 6-DOF localization for a mobile robot using outdoor 3D voxel maps

Content Provider	IEEE Xplore Digital Library
Author	Suzuki, T. Kitamura, M. Amano, Y. Hashizume, T.
Copyright Year	2010
Description	Author affiliation: Graduate School of Science and Engineering, Waseda University, Tokyo, Japan (Suzuki, T.; Kitamura, M.) \|\| Advanced Research Institute for Science and Engineering, Waseda University, Tokyo, Japan (Amano, Y.; Hashizume, T.)
Abstract	This paper describes outdoor localization for a mobile robot using a laser scanner and a three-dimensional (3D) voxel map that is based on outdoor point clouds. A mobile mapping system (MMS) measures outdoor 3D point clouds easily and precisely. The complete 6D state of a mobile robot is estimated by combining dead reckoning and the 3D voxel map. The 2D position and orientation are extended to 3D by using the 3D voxel map and by assuming that the mobile robot remains in continuous contact with the road surface. Our approach applies a particle filter to correct position errors in the laser measurement model for a 3D point cloud space. Field experiments were performed to evaluate the accuracy of our proposed method. Our results confirmed that it is possible to achieve a localization precision of 0.2 m (RMS) using our proposed method.
Starting Page	5737
Ending Page	5743
File Size	2424759
Page Count	7
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5652983
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Three dimensional displays Mobile robots Clouds Robot sensing systems Atmospheric measurements Particle measurements Gyroscopes
Content Type	Text
Resource Type	Article

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