Localization of outdoor mobile robots using curb features in urban road environments

Hyunsuk Lee, Jooyoung Park, Woo Jin Chung

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

Urban road environments that have pavement and curb are characterized as semistructured road environments. In semistructured road environments, the curb provides useful information for robot navigation. In this paper, we present a practical localization method for outdoor mobile robots using the curb features in semistructured road environments. The curb features are especially useful in urban environment, where the GPS failures take place frequently. A curb extraction is conducted on the basis of the Kernel Fisher Discriminant Analysis (KFDA) to minimize false detection. We adopt the Extended Kalman Filter (EKF) to combine the curb information with odometry and Differential Global Positioning System (DGPS). The uncertainty models for the sensors are quantitatively analyzed to provide a practical solution.

Original languageEnglish
Article number368961
JournalMathematical Problems in Engineering
Volume2014
DOIs
Publication statusPublished - 2014 Jan 1

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ASJC Scopus subject areas

  • Mathematics(all)
  • Engineering(all)

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