상세정보
학술대회
Robust Self-Localization of Ground Vehicles Using Artificial Landmark
- 발행일
- 201411
- 출처
- International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2014, pp.303-307
- 협약과제
- 14PC3100, 실외환경에 강인한 도로기반 저가형 자율주행 기술 개발, 유원필
- 초록
- Stable and accuracy localization has crucial importance on the success of autonomous navigation of robotic ground vehicles. In this paper, we present a landmark-based sensor fusion localization method that utilizes artificial landmarks, a cheap GPS sensor, and wheel odometry. We describe overall architecture of the proposed localization system and technical details of landmark-based localization algorithm. The developed landmark-based localization system gives centimeters localization accuracy and real time performance more than 100 Hz. The experimental results on extensive real video sequences confirms the effectiveness and reliability of the method, showing successful detection of most landmarks with almost no false detection.
- KSP 제안 키워드
- Artificial Landmarks, False detection, GPS sensor, Ground vehicles, Localization method, Localization systems, Real-Time, Self-Localization, autonomous navigation, fusion localization, localization accuracy