NDLI: A localization method based on two omnidirectional perception systems cooperation

Content Provider	IEEE Xplore Digital Library
Author	Clerentin, A. Delahoche, L. Pegard, C. Brassart Gracsy, E.
Copyright Year	2000
Description	Author affiliation: Groupe de Recherche sur l'Anal. et la Commande des Syst., Amiens, France (Clerentin, A.)
Abstract	This paper deals with an absolute localization paradigm based on the cooperation of an omnidirectional vision system and a low cost panoramic range finder system. These two perception systems used independently by our laboratory provide some complementary data. This association permits us to build a robust sensorial model which integrates an important number of significant primitives. The obtained sensorial model allows one to realize an absolute localization of the mobile robot, in particular, configurations where it is not possible to determine the position with the use of one of the two sensors. First, we present our global perception system. Next, we deal with our sensorial model building approach, and finally we present an absolute-localization method which uses a Dempster-Shafer approach. We analyze the performance of our global absolute localization system on several robot's elementary moves, in an indoor environment.
Starting Page	1219
Ending Page	1224
File Size	621572
Page Count	6
File Format	PDF
ISBN	0780358864
ISSN	10504729
DOI	10.1109/ROBOT.2000.844765
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-04-24
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Machine vision Robustness Mobile robots Dead reckoning Costs Navigation Service robots Laboratories Indoor environments
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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