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센서 융합을 통한 환경지도 기반의 강인한 전역 위치추정Robust Global Localization based on Environment map through Sensor Fusion
- Other Titles
- Robust Global Localization based on Environment map through Sensor Fusion
- Issue Date
- 2014
- Publisher
- 한국로봇학회
- Keywords
- Global Localization; Mobile Robot; Environment Map; Mapping; Sensor Fusion
- Citation
- 로봇학회 논문지, v.9, no.2, pp.96 - 103
- Indexed
- KCI
OTHER
- Journal Title
- 로봇학회 논문지
- Volume
- 9
- Number
- 2
- Start Page
- 96
- End Page
- 103
- ISSN
- 1975-6291
- Abstract
- Global localization is one of the essential issues for mobile robot navigation. In this study, anindoor global localization method is proposed which uses a Kinect sensor and a monocular upwardlookingcamera. The proposed method generates an environment map which consists of a grid map, aceiling feature map from the upward-looking camera, and a spatial feature map obtained from theKinect sensor. The method selects robot pose candidates using the spatial feature map and updatessample poses by particle filter based on the grid map. Localization success is determined by calculatingthe matching error from the ceiling feature map. In various experiments, the proposed method achieveda position accuracy of 0.12m and a position update speed of 10.4s, which is robust enough for realworldapplications.
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Collections - College of Engineering > Department of Mechanical Engineering > 1. Journal Articles
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