Efficient and reliable Monte Carlo localization with thinning edges

Tae Bum Kwon, Ju Ho Yang, Jae Bok Song

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

The global convergence of MCL is time-consuming because of a large number of random samples. Moreover, its success is not guaranteed at all times. This paper presents a novel approach to reduce the number of samples of MCL and one heuristic approach to detect localization failure using thinning edges extracted in real time. Random samples are drawn only around the neighborhood of the thinning edges rather than over the entire free space and localization quality is estimated through the probabilistic analysis of samples added around the thinning edges. A series of experiments verified the performance of the proposed scheme.

Original languageEnglish
Pages (from-to)328-338
Number of pages11
JournalInternational Journal of Control, Automation and Systems
Volume8
Issue number2
DOIs
Publication statusPublished - 2010 Apr 1

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Keywords

  • Kidnapped robot problems
  • Monte carlo localization
  • Particle filters
  • Thinning edges

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications

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