실외 이동로봇의 고도지도 기반의 전역 위치추정을 위한 Hausdorff 거리 정합 기법Hausdorff Distance Matching for Elevation Map-based Global Localization of an Outdoor Mobile Robot
- Other Titles
- Hausdorff Distance Matching for Elevation Map-based Global Localization of an Outdoor Mobile Robot
- Authors
- 지용훈; 송재복; 백주현; 유재관
- Issue Date
- 2011
- Publisher
- 제어·로봇·시스템학회
- Keywords
- localization; hausdorff distance; map matching; outdoor navigation
- Citation
- 제어.로봇.시스템학회 논문지, v.17, no.9, pp.916 - 921
- Indexed
- SCOPUS
KCI
- Journal Title
- 제어.로봇.시스템학회 논문지
- Volume
- 17
- Number
- 9
- Start Page
- 916
- End Page
- 921
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/113494
- ISSN
- 1976-5622
- Abstract
- Mobile robot localization is the task of estimating the robot pose in a given environment. This research deals with outdoor localization based on an elevation map. Since outdoor environments are large and contain many complex objects, it is difficult to robustly estimate the robot pose. This paper proposes a Hausdorff distance-based map matching method. The Hausdorff distance is exploited to measure the similarity between extracted features obtained from the robot and elevation map. The experiments and simulations show that the proposed Hausdorff distance-based map matching is useful for robust outdoor localization using an elevation map. Also, it can be easily applied to other probabilistic approaches such as a Markov localization method.
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Collections - College of Engineering > Department of Mechanical Engineering > 1. Journal Articles
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