실외 이동로봇의 고도지도 기반 위치인식을 위한 고도관성모멘트 추출 및 정합Extraction and Matching of Elevation Moment of Inertia for Elevation Map-based Localization of an Outdoor Mobile Robot
- Other Titles
- Extraction and Matching of Elevation Moment of Inertia for Elevation Map-based Localization of an Outdoor Mobile Robot
- Authors
- 권태범; 강신천; 송재복
- Issue Date
- 2009
- Publisher
- 제어·로봇·시스템학회
- Keywords
- feature matching; localization; moment of inertia; outdoor navigation
- Citation
- 제어.로봇.시스템학회 논문지, v.15, no.2, pp.203 - 210
- Indexed
- SCOPUS
KCI
- Journal Title
- 제어.로봇.시스템학회 논문지
- Volume
- 15
- Number
- 2
- Start Page
- 203
- End Page
- 210
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/121234
- ISSN
- 1976-5622
- Abstract
- The problem of outdoor localization can be practically solved by GPS. However, GPS is not perfect and some areas of outdoor navigation should consider other solutions. This research deals with outdoor localization using an elevation map without GPS. This paper proposes a novel feature, elevation moment of inertia (EMOI), which represents the distribution of elevation as a function of distance from a robot in the elevation map. Each cell of an elevation map has its own EMOI, and outdoor localization can be performed by matching EMOIs obtained from the robot and the pre-given elevation map. The experiments and simulations show that the proposed EMOI can be usefully exploited for outdoor localization with an elevation map and this feature can be easily applied to other probabilistic approaches such as Markov localization method.
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Collections - College of Engineering > Department of Mechanical Engineering > 1. Journal Articles
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