Localization of an outdoor mobile robot considering the uncertainty model of the road curb

Hyunsuk Lee, Hyunki Kwon, Jihoon Seong, Woo Jin Chung

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

Abstract

As one of the dominant features in the road environment, the curbs provide useful information for navigation. However, when the uncertainty model does not defined correctly, the road curb does not contribute to the estimated robot pose. In order to solve this problem, we propose the integrated localization scheme using curb features on the basis of uncertainty model of road curb. The uncertainty model for the extracted curb is quantitatively determined from experiments. Extended Kaiman Filter is exploited for the fusion of curbs and DGPS measurements.

Original languageEnglish
Title of host publication2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages266-268
Number of pages3
ISBN (Print)9781479953325
DOIs
Publication statusPublished - 1997 Mar 9
Event2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 - Kuala Lumpur, Malaysia
Duration: 2014 Nov 122014 Nov 15

Other

Other2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
CountryMalaysia
CityKuala Lumpur
Period14/11/1214/11/15

Keywords

  • Outdoor Mobile Robot
  • Road Curb
  • Uncertainty Model

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

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  • Cite this

    Lee, H., Kwon, H., Seong, J., & Chung, W. J. (1997). Localization of an outdoor mobile robot considering the uncertainty model of the road curb. In 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 (pp. 266-268). [7057429] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2014.7057429