論文

2010年

6-DOF localization for a mobile robot using outdoor 3D voxel maps

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
  • Taro Suzuki
  • ,
  • Mitsunori Kitamura
  • ,
  • Yoshiharu Amano
  • ,
  • Takumi Hashizume

開始ページ
5737
終了ページ
5743
記述言語
掲載種別
研究論文(国際会議プロシーディングス)
DOI
10.1109/IROS.2010.5652983

This paper describes outdoor localization for a mobile robot using a laser scanner and a three-dimensional (3D) voxel map that is based on outdoor point clouds. A mobile mapping system (MMS) measures outdoor 3D point clouds easily and precisely. The complete 6D state of a mobile robot is estimated by combining dead reckoning and the 3D voxel map. The 2D position and orientation are extended to 3D by using the 3D voxel map and by assuming that the mobile robot remains in continuous contact with the road surface. Our approach applies a particle filter to correct position errors in the laser measurement model for a 3D point cloud space. Field experiments were performed to evaluate the accuracy of our proposed method. Our results confirmed that it is possible to achieve a localization precision of 0.2 m (RMS) using our proposed method. ©2010 IEEE.

リンク情報
DOI
https://doi.org/10.1109/IROS.2010.5652983
Scopus
https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=78651507484&origin=inward
Scopus Citedby
https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=78651507484&origin=inward
ID情報
  • DOI : 10.1109/IROS.2010.5652983
  • SCOPUS ID : 78651507484

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