상세정보
학술대회
Adaptive Localization for Mobile Robots in Urban Environments Using Low-Cost Sensors and Enhanced Topological Map
- 발행일
- 201106
- 출처
- International Conference on Advanced Robotics (ICAR) 2011, pp.569-575
- 협약과제
- 11MC3200, 실외환경에 강인한 도로 기반 저가형 자율주행기술 개발, 유원필
- 초록
- This paper presents a technique for accurate localization of mobile robots using an enhanced topological map and using the low-cost sensors such as wheel odometer, global positioning system (GPS), and mono-camera. The localization framework is based on EKF to fuse the sensor data and the topological map. The sensor data include the positions of traffic marks measured by camera and topological map having the actual positions of traffic marks extracted from aerial or satellite images in advance. Our approach obtains the adaptive parameter for EKF localization by matching two positions, measured by camera and extracted from topological map, on each traffic mark. The adaptive parameter reflects the geographical characteristics, e.g. hill, corner, and road surfaces. The proposed method has shown high accuracy result and apparently better performance of the EKF localization with adaptive parameter. The proposed method is economically feasible and practically applicable to commercial robots using the low-cost sensors and providing the reliable localization services. © 2011 IEEE.
- KSP 제안 키워드
- Accurate Localization, Adaptive Localization, Adaptive parameter, Geographical characteristics, High accuracy, Localization framework, Low-cost sensors, Mobile robots, Mono-camera, Road Surface, global positioning system(GPS)