Curb feature based localization of a mobile robot in urban road environments

Hyunsuk Lee; Jooyoung Park; Woo Jin Chung

doi:10.1109/ICRA.2015.7139579

Curb feature based localization of a mobile robot in urban road environments

Hyunsuk Lee, Jooyoung Park, Woo Jin Chung

School of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

11 Citations (Scopus)

Abstract

Urban road environments that have pavement and curb are characterized as semi-structured road environments. In semi-structured 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 semi-structured 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 language	English
Title of host publication	2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2794-2799
Number of pages	6
Edition	June
ISBN (Electronic)	9781479969234
DOIs	https://doi.org/10.1109/ICRA.2015.7139579
Publication status	Published - 2015 Jun 29
Event	2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States Duration: 2015 May 26 → 2015 May 30

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Number	June
Volume	2015-June
ISSN (Print)	1050-4729

Other

Other	2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Country/Territory	United States
City	Seattle
Period	15/5/26 → 15/5/30

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA.2015.7139579

Cite this

Lee, H., Park, J., & Chung, W. J. (2015). Curb feature based localization of a mobile robot in urban road environments. In 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 (June ed., pp. 2794-2799). [7139579] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2015-June, No. June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2015.7139579

Curb feature based localization of a mobile robot in urban road environments. / Lee, Hyunsuk; Park, Jooyoung; Chung, Woo Jin.
2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. p. 2794-2799 7139579 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2015-June, No. June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Lee, H, Park, J & Chung, WJ 2015, Curb feature based localization of a mobile robot in urban road environments. in 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June edn, 7139579, Proceedings - IEEE International Conference on Robotics and Automation, no. June, vol. 2015-June, Institute of Electrical and Electronics Engineers Inc., pp. 2794-2799, 2015 IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, United States, 15/5/26. https://doi.org/10.1109/ICRA.2015.7139579

Lee H, Park J, Chung WJ. Curb feature based localization of a mobile robot in urban road environments. In 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June ed. Institute of Electrical and Electronics Engineers Inc. 2015. p. 2794-2799. 7139579. (Proceedings - IEEE International Conference on Robotics and Automation; June). doi: 10.1109/ICRA.2015.7139579

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Curb feature based localization of a mobile robot in urban road environments

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