DSM update for robust outdoor localization using ICP-based scan matching with COAG features of laser range data

Yong Hoon Ji, Sung Ho Hong, Jae Bok Song, Ji Hoon Choi

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

2 Citations (Scopus)

Abstract

Localization of a mobile robot is a very important task for autonomous navigation. However, with only an initially inaccurate map, a mobile robot cannot estimate its pose robustly because of the inconsistency between the real observations from the environment and the predicted observations on the inaccurate map. The main map used for outdoor environment is DSM (Digital Surface Model) which consists of 2-D grids with elevation information on each grid. In this research, the inaccurate DSM is updated using both estimated robot pose and a local elevation map built by laser range data. In order to match the reference DSM with the local elevation map, ICP (Iterative Closest Points)-based scan matching technique with COAG (commonly observed from air and ground) features is used. Also, the robot pose is estimated by MCL (Monte Carlo localization). Experimental results show that the updated DSM yields better performance in localization compared to non-updated DSM. Error analysis of estimated paths from each map is presented with respect to the ground truth.

Original languageEnglish
Title of host publication2011 IEEE/SICE International Symposium on System Integration, SII 2011
Pages1245-1250
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 IEEE/SICE International Symposium on System Integration, SII 2011 - Kyoto, Japan
Duration: 2011 Dec 202011 Dec 22

Publication series

Name2011 IEEE/SICE International Symposium on System Integration, SII 2011

Other

Other2011 IEEE/SICE International Symposium on System Integration, SII 2011
CountryJapan
CityKyoto
Period11/12/2011/12/22

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Control and Systems Engineering

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    Ji, Y. H., Hong, S. H., Song, J. B., & Choi, J. H. (2011). DSM update for robust outdoor localization using ICP-based scan matching with COAG features of laser range data. In 2011 IEEE/SICE International Symposium on System Integration, SII 2011 (pp. 1245-1250). [6147627] (2011 IEEE/SICE International Symposium on System Integration, SII 2011). https://doi.org/10.1109/SII.2011.6147627