NDLI: Mobile robot localization using a light-stripe sensor

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Mobile robot localization using a light-stripe sensor

Content Provider	IEEE Xplore Digital Library
Author	Aldon, M.J. Le Bris, L.
Copyright Year	1994
Description	Author affiliation: LIRMM, Montpellier, France (Aldon, M.J.; Le Bris, L.)
Abstract	This paper presents an absolute localization system for a mobile robot moving on a flat ground, in a structured environment. The method makes use of 3D images provided by a light-stripe sensor. The images represent the sections in a horizontal plane of characteristic edges of the environment, whose model is known at the very outset. The goal is to extract at least two identifiable points out of the observed laser stripe and to determine the position and the heading of the robot considering a frame fixed at the observed edge. The experimental results obtained with an indoor mobile robot show that the localization errors are of the order of some centimeters in location and one degree in heading.
Starting Page	255
Ending Page	259
File Size	370860
Page Count	5
File Format	PDF
ISBN	0780321359
DOI	10.1109/IVS.1994.639515
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-10-24
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Robot vision systems Cameras Robot sensing systems Robot kinematics Optical sensors Laser modes Charge-coupled image sensors Optical filters Image sensors
Content Type	Text
Resource Type	Article

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