Outdoor mobile robot localization using Hausdorff distance-based matching between COAG features of elevation maps and laser range data

Yong Hoon Ji, Jae Bok Song, Ji Hoon Choi

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

2 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationICCAS 2011 - 2011 11th International Conference on Control, Automation and Systems
Pages686-689
Number of pages4
Publication statusPublished - 2011
Event2011 11th International Conference on Control, Automation and Systems, ICCAS 2011 - Gyeonggi-do, Korea, Republic of
Duration: 2011 Oct 262011 Oct 29

Publication series

NameInternational Conference on Control, Automation and Systems
ISSN (Print)1598-7833

Other

Other2011 11th International Conference on Control, Automation and Systems, ICCAS 2011
CountryKorea, Republic of
CityGyeonggi-do
Period11/10/2611/10/29

Keywords

  • Hausdorff distance
  • Mobile robots
  • Monte Carlo localization
  • Outdoor localization

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Ji, Y. H., Song, J. B., & Choi, J. H. (2011). Outdoor mobile robot localization using Hausdorff distance-based matching between COAG features of elevation maps and laser range data. In ICCAS 2011 - 2011 11th International Conference on Control, Automation and Systems (pp. 686-689). [6106279] (International Conference on Control, Automation and Systems).