상세정보
학술대회
Augmented EKF Localization for Mobile Robots in Urban Environments
- 발행일
- 201012
- 출처
- International Conference on Robotics and Biomimetics (ROBIO) 2010, pp.986-991
- 협약과제
- 10MC4100, u-Robot 인지인프라 기술개발(주관 : u-City 환경기반 하이브리드 u-로봇 서비스 시스템 기술개발), 유원필
- 초록
- We propose the augmented EKF Localization for mobile robots in urban environments. Odometer, GPS (Global Positioning System), gyroscope, and camera are used as the localization sensors. The proposed method is aimed for the mobile robot working in urban environments where the traffic lanes exist. Through a camera, the robot measures the lateral offset from the robot position to the centerline of road. Furthermore, the lateral offset is included probabilistically as robot's augmented state to strengthen the robot position estimate. The simulation shows that our proposed method has superior performance compared to the other EKF versions. © 2010 IEEE.
- KSP 제안 키워드
- Lateral offset, Mobile robots, Position estimate, augmented state, global positioning system(GPS), robot position, superior performance, urban environment