TY - GEN
T1 - Outdoor mobile robot localization using Hausdorff distance-based matching between COAG features of elevation maps and laser range data
AU - Ji, Yong Hoon
AU - Song, Jae Bok
AU - Choi, Ji Hoon
PY - 2011
Y1 - 2011
N2 - Mobile robot localization is the task of estimating the robot pose in a given environment. Among many localization techniques, Monte Carlo localization (MCL) is known to be one of the most reliable methods for pose estimation of a mobile robot. However, as outdoor environments are large and contain many complex objects, it is difficult to robustly estimate the robot pose using MCL in outdoor environments. Therefore, this study proposes a novel approach, the Hausdorff distance-based matching method using the objects commonly observed from air and ground (COAG) features for outdoor MCL algorithm. The Hausdorff distance is exploited to measure the similarity between the COAG features extracted from the robot and the elevation map. The experimental results in real environments show that the success rate of outdoor MCL increases and the proposed method is useful for robust outdoor localization using an elevation map.
AB - Mobile robot localization is the task of estimating the robot pose in a given environment. Among many localization techniques, Monte Carlo localization (MCL) is known to be one of the most reliable methods for pose estimation of a mobile robot. However, as outdoor environments are large and contain many complex objects, it is difficult to robustly estimate the robot pose using MCL in outdoor environments. Therefore, this study proposes a novel approach, the Hausdorff distance-based matching method using the objects commonly observed from air and ground (COAG) features for outdoor MCL algorithm. The Hausdorff distance is exploited to measure the similarity between the COAG features extracted from the robot and the elevation map. The experimental results in real environments show that the success rate of outdoor MCL increases and the proposed method is useful for robust outdoor localization using an elevation map.
KW - Hausdorff distance
KW - Mobile robots
KW - Monte Carlo localization
KW - Outdoor localization
UR - http://www.scopus.com/inward/record.url?scp=84863078492&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84863078492&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84863078492
SN - 9781457708350
T3 - International Conference on Control, Automation and Systems
SP - 686
EP - 689
BT - ICCAS 2011 - 2011 11th International Conference on Control, Automation and Systems
T2 - 2011 11th International Conference on Control, Automation and Systems, ICCAS 2011
Y2 - 26 October 2011 through 29 October 2011
ER -