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

Hyunsuk Lee, Jooyoung Park, Woojin Chung

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)


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
Publication statusPublished - 2014

ASJC Scopus subject areas

  • Mathematics(all)
  • Engineering(all)


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