TY - GEN
T1 - Localization of outdoor mobile robots using road features
AU - Kim, Donghyeon
AU - Chung, Woojin
PY - 2011
Y1 - 2011
N2 - It is required lots of sensor systems to deal with general environmental uncertainties. However, in semi-structured outdoor environments, such as paved road, the environmental uncertainties are generally lower than that of the general environments. As a result, it can be dealt with a single Laser Range Finder by using the utilizations of curb-detection in the semi-structured environments. In this paper, we presented outdoor mobile robot localization scheme by exploiting the detected curb information. For localization, we used data of robot's odometry, DGPS, and compass was combined using Extended Kalman Filter. The data of extracted curb was also used. Using the data of curb, we can get more reliable localization results and suggest algorithm showing better localization performance than that of result from using only DGPS and compass in area in which DGPS's error is large.
AB - It is required lots of sensor systems to deal with general environmental uncertainties. However, in semi-structured outdoor environments, such as paved road, the environmental uncertainties are generally lower than that of the general environments. As a result, it can be dealt with a single Laser Range Finder by using the utilizations of curb-detection in the semi-structured environments. In this paper, we presented outdoor mobile robot localization scheme by exploiting the detected curb information. For localization, we used data of robot's odometry, DGPS, and compass was combined using Extended Kalman Filter. The data of extracted curb was also used. Using the data of curb, we can get more reliable localization results and suggest algorithm showing better localization performance than that of result from using only DGPS and compass in area in which DGPS's error is large.
KW - Curb Detection
KW - Extended Kalman Filter
KW - Outdoor Localization
UR - http://www.scopus.com/inward/record.url?scp=84863168556&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84863168556&partnerID=8YFLogxK
U2 - 10.1109/URAI.2011.6145997
DO - 10.1109/URAI.2011.6145997
M3 - Conference contribution
AN - SCOPUS:84863168556
SN - 9781457707223
T3 - URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence
SP - 363
EP - 365
BT - URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence
T2 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011
Y2 - 23 November 2011 through 26 November 2011
ER -