NDLI: Adaptive localization of an autonomous mobile robot in natural environments

Content Provider	IEEE Xplore Digital Library
Author	Betge-Brezetz, S. Chatila, R. Devy, M. Fillatreau, P. Nashashibi, F.
Copyright Year	1994
Description	Author affiliation: Lab. d'Autom. et d'Anal. des Syst., CNRS, Toulouse, France (Betge-Brezetz, S.; Chatila, R.; Devy, M.; Fillatreau, P.; Nashashibi, F.)
Abstract	We focus on the perceptual and decisional functions required for the self-localization of a mobile robot in a natural environment. Two main localization approaches are considered: based on the terrain numerical representations (by elevation map or B-splines), or using explicit object or landmark representations. They are not applicable in the same situations, nor do they yield the same accuracy. In order to take into account the diversity of the possible environment configurations and situations, the scene model is built with heterogeneous representations: on the one hand, a hierarchical numerical "terrain model", which involves B-spline surfaces as nonplanar primitives, well adapted to describe the geometry of uneven terrains, and, on the other hand, an "object model", which provides a more symbolic description suitable when the scene includes objects laying on a flat ground. The decisional functions which select the better localization strategy and combine them according to the localization task context are discussed.
Starting Page	77
Ending Page	84
File Size	850070
Page Count	8
File Format	PDF
ISBN	0780320727
DOI	10.1109/MFI.1994.398470
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-10-02
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Navigation Data mining Numerical models Solid modeling Tracking Rain Surface topography Explosions Interpolation
Content Type	Text
Resource Type	Article

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