Abstract
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.
| Original language | English |
|---|---|
| Title of host publication | International Conference on Control, Automation and Systems |
| Pages | 1525-1527 |
| Number of pages | 3 |
| DOIs | |
| Publication status | Published - 2013 Dec 1 |
| Event | 2013 13th International Conference on Control, Automation and Systems, ICCAS 2013 - Gwangju, Korea, Republic of Duration: 2013 Oct 20 → 2013 Oct 23 |
Other
| Other | 2013 13th International Conference on Control, Automation and Systems, ICCAS 2013 |
|---|---|
| Country | Korea, Republic of |
| City | Gwangju |
| Period | 13/10/20 → 13/10/23 |
Fingerprint
Keywords
- Curb Extraction
- Extended Kalman Filter
- Outdoor localization
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Science Applications
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
Localization of a patrol robot using curb feature in road environment. / Lee, Hyunsuk; Chung, Woo Jin.
International Conference on Control, Automation and Systems. 2013. p. 1525-1527 6704129.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Localization of a patrol robot using curb feature in road environment
AU - Lee, Hyunsuk
AU - Chung, Woo Jin
PY - 2013/12/1
Y1 - 2013/12/1
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
SP - 1525
EP - 1527
BT - International Conference on Control, Automation and Systems
ER -