TY - GEN
T1 - Localization of a patrol robot using curb feature in road environment
AU - Lee, Hyunsuk
AU - Chung, Woojin
PY - 2013
Y1 - 2013
N2 - Patrol robots to perform specific service in environment travel the same path repeatedly based on map. For the safe navigation of patrol robots, environment recognition and precise localization should be necessary. In outdoor environment, it is generally using expensive equipment and many sensors for environmental recognition and localization. However, complex system configuration and increase in costs of robot are required. Furthermore, in urban road environment, the precision of GPS is reduced by high structures. In order to solve these problems, we propose localization algorithm using the curb feature. An onboard LRF is used to extract curb. The extracted curb is matched with line map and fused by Extend Kalman Filter with odometry and DGPS measurement. We verify the robustness of the proposed algorithm by experiment, although the large DGPS error occurs due to the buildings.
AB - Patrol robots to perform specific service in environment travel the same path repeatedly based on map. For the safe navigation of patrol robots, environment recognition and precise localization should be necessary. In outdoor environment, it is generally using expensive equipment and many sensors for environmental recognition and localization. However, complex system configuration and increase in costs of robot are required. Furthermore, in urban road environment, the precision of GPS is reduced by high structures. In order to solve these problems, we propose localization algorithm using the curb feature. An onboard LRF is used to extract curb. The extracted curb is matched with line map and fused by Extend Kalman Filter with odometry and DGPS measurement. We verify the robustness of the proposed algorithm by experiment, although the large DGPS error occurs due to the buildings.
KW - Curb Extraction
KW - Extended Kalman Filter
KW - Outdoor localization
UR - http://www.scopus.com/inward/record.url?scp=84893586128&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893586128&partnerID=8YFLogxK
U2 - 10.1109/ICCAS.2013.6704129
DO - 10.1109/ICCAS.2013.6704129
M3 - Conference contribution
AN - SCOPUS:84893586128
SN - 9788993215052
T3 - International Conference on Control, Automation and Systems
SP - 1525
EP - 1527
BT - ICCAS 2013 - 2013 13th International Conference on Control, Automation and Systems
T2 - 2013 13th International Conference on Control, Automation and Systems, ICCAS 2013
Y2 - 20 October 2013 through 23 October 2013
ER -