Abstract
Urban road environments that have pavement and curb are characterized as semi-structured road environments. In semi-structured road environments, the curb provides useful information for robot navigation. In this paper, we present a practical localization method for outdoor mobile robots using the curb features in semi-structured road environments. The curb features are especially useful in urban environment, where the GPS failures take place frequently. A curb extraction is conducted on the basis of the Kernel Fisher Discriminant Analysis (KFDA) to minimize false detection. We adopt the Extended Kalman Filter (EKF) to combine the curb information with odometry and Differential Global Positioning System (DGPS). The uncertainty models for the sensors are quantitatively analyzed to provide a practical solution.
| Original language | English |
|---|---|
| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 2794-2799 |
| Number of pages | 6 |
| Volume | 2015-June |
| Edition | June |
| DOIs | |
| Publication status | Published - 2015 Jun 29 |
| Event | 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States Duration: 2015 May 26 → 2015 May 30 |
Other
| Other | 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 |
|---|---|
| Country | United States |
| City | Seattle |
| Period | 15/5/26 → 15/5/30 |
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ASJC Scopus subject areas
- Software
- Artificial Intelligence
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
Curb feature based localization of a mobile robot in urban road environments. / Lee, Hyunsuk; Park, Jooyoung; Chung, Woo Jin.
Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2015-June June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. p. 2794-2799 7139579.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Curb feature based localization of a mobile robot in urban road environments
AU - Lee, Hyunsuk
AU - Park, Jooyoung
AU - Chung, Woo Jin
PY - 2015/6/29
Y1 - 2015/6/29
N2 - Urban road environments that have pavement and curb are characterized as semi-structured road environments. In semi-structured road environments, the curb provides useful information for robot navigation. In this paper, we present a practical localization method for outdoor mobile robots using the curb features in semi-structured road environments. The curb features are especially useful in urban environment, where the GPS failures take place frequently. A curb extraction is conducted on the basis of the Kernel Fisher Discriminant Analysis (KFDA) to minimize false detection. We adopt the Extended Kalman Filter (EKF) to combine the curb information with odometry and Differential Global Positioning System (DGPS). The uncertainty models for the sensors are quantitatively analyzed to provide a practical solution.
AB - Urban road environments that have pavement and curb are characterized as semi-structured road environments. In semi-structured road environments, the curb provides useful information for robot navigation. In this paper, we present a practical localization method for outdoor mobile robots using the curb features in semi-structured road environments. The curb features are especially useful in urban environment, where the GPS failures take place frequently. A curb extraction is conducted on the basis of the Kernel Fisher Discriminant Analysis (KFDA) to minimize false detection. We adopt the Extended Kalman Filter (EKF) to combine the curb information with odometry and Differential Global Positioning System (DGPS). The uncertainty models for the sensors are quantitatively analyzed to provide a practical solution.
UR - http://www.scopus.com/inward/record.url?scp=84938225294&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84938225294&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2015.7139579
DO - 10.1109/ICRA.2015.7139579
M3 - Conference contribution
VL - 2015-June
SP - 2794
EP - 2799
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
ER -