Curb feature based localization of a mobile robot in urban road environments

Hyunsuk Lee, Jooyoung Park, Woo Jin Chung

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

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 languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2794-2799
Number of pages6
Volume2015-June
EditionJune
DOIs
Publication statusPublished - 2015 Jun 29
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: 2015 May 262015 May 30

Other

Other2015 IEEE International Conference on Robotics and Automation, ICRA 2015
CountryUnited States
CitySeattle
Period15/5/2615/5/30

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Lee, H., Park, J., & Chung, W. J. (2015). Curb feature based localization of a mobile robot in urban road environments. In Proceedings - IEEE International Conference on Robotics and Automation (June ed., Vol. 2015-June, pp. 2794-2799). [7139579] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2015.7139579