Localization methods for a mobile robot in urban environments

IEEE Transactions on Robotics

Volumn 20, Issue 5, 2004, Pages 851-864

  Georgiev, Atanas ^a   Allen, Peter K ^a  

^a Columbia University ^*  (United States)

Author keywords

Localization; Machine vision; Mobile robots

Indexed keywords

CAMERAS; COMPUTER VISION; ENVIRONMENTAL ENGINEERING; GLOBAL POSITIONING SYSTEM; KALMAN FILTERING; MATHEMATICAL MODELS; MOTION ESTIMATION; MOTION PLANNING; NAVIGATION; PATTERN MATCHING; SENSOR DATA FUSION; TRACKING (POSITION);

ENVIRONMENTAL MODEL; FUNCTIONAL MOBILE ROBOT; LOCALIZATION METHOD; ODOMETRY; ROBOT LOCATION; URBAN SITE NAVIGATION;

MOBILE ROBOTS;

EID: 10244260338     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2004.829506     Document Type: Article

References (36)

1. P. Allen, I. Stamos, A. Gueorguiev, E. Gold, and P. Blaer, "AVENUE: Automated site modeling in urban environments," in Proc. 3rd Conf. Digital Imaging and Modeling, Quebec, QC, Canada, May 2001, pp. 357-364.
2. J. Borenstein and L. Feng, "Correction of systematic odometry errors in mobile robots," in Proc. IROS'95, Pittsburgh, PA, Aug. 1995, pp. 569-574.
3. J. Borenstein, "Gyrodometry: A new method for combining data from gyros and odometry in mobile robots," in Proc. IEEE Int. Conf. Robotics and Automation, Minneapolis, MN, 1996, pp. 423-428.
4. S. I. Roumeliotis, G. S. Sukhatme, and G. A. Bakey, "Circumventing dynamic modeling: Evaluation of the error-state Kalman filter applied to mobile robot localization," in Proc. IEEE Int. Conf. Robotics and Automation, Detroit, MI, 1999, pp. 1656-1663.
5. S. Cooper and H. F. Durrant-Whyte, "A Kalman filter model for GPS navigation of land vehicles," in Proc. IEEE Int. Conf. Robotics and Automation, San Diego, CA, 1994, pp. 157-163.
6. J. Schleppe, "Development of a real-time attitude system using a quaternion parametrization and non-dedicated GPS receivers," Master's thesis, Dept. Geomatics Eng., Univ. Calgary, Calgary, AB, Canada, 1996.
7. T. Aono, K. Fujii, S. Hatsumoto, and T. Kamiya, "Positioning of vehicle on undulating ground using GPS and dead reckoning," in Proc. IEEE Int. Conf. Robotics and Automation, Leuven, Belgium, 1998, pp. 3443-3448.
8. C.-C. Lin and R. L. Tummala, "Mobile robot navigation using artificial landmarks," J. Robot. Syst., vol. 14, no. 2, pp. 93-106, 1997.
9. S. Thrun, "Finding landmarks for mobile robot navigation," in Proc. IEEE Int. Conf. Robotics and Automation, Leuven, Belgium, 1998, pp. 958-963.
10. R. Sim and G. Dudek, "Mobile robot localization from learned landmarks," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Victoria, BC, Canada, Oct. 1998, pp. 1060-1065.
11. A. Kosaka and A. C. Kak, "Fast vision-guided mobile robot navigation using model-based reasoning and prediction of uncertainties," Comput. Vis., Graphics, Image Process., Image Understand., vol. 56, no. 3, pp. 271-329, 1992.
12. M. Bozorg, E. Nebot, and H. Durrant-Whyte, "A decentralised navigation architecture," in Proc. IEEE Int. Conf. Robotics and Automation, Leuven, Belgium, 1998, pp. 3413-3418.
13. J. Neira, J. Tardos, J. Horn, and G. Schmidt, "Fusing range and intensity images for mobile robot localization," IEEE Trans. Robot. Automat., vol. 15, pp. 76-84, Feb. 1999.
14. J. Castellanos and J. Tardos, Mobile Robot Localization and Map Building: A Multisensor Fusion Approach. Norwell, MA: Kluwer, 1999.
15. S. Thrun, W. Burgard, and D. Fox, "A probabilistic approach to concurrent mapping and localization for mobile robots," Auton. Robots, vol. 5, pp. 253-271, 1998.
16. F. Dellaert, D. Fox, W. Burgard, and S. Thrun, "Monte Carlo localization for mobile robots," in Proc. IEEE Int. Conf. Robotics and Automation, Detroit, MI, 1999, pp. 1322-1328.
17. H. Durrant-Whyte, G. Dissanayake, and P. Gibbens, "Toward deployment of large scale simultaneous localization and map building (SLAM) systems," in Proc. Int. Symp. Robotics Research, Salt Lake City, UT, 1999, pp. 121-127.
18. J. Leonard and H. J. S. Feder, "A computationally efficient method for large-scale concurrent mapping and localization," in Proc. Int. Symp. Robotics Research, Salt Lake City, UT, 1999, pp. 128 135.
19. J. Borenstein and L. Feng, Navigating Mobile Robots: Systems and Techniques. Wellesley, MA: A. K. Peters, 1996.
20. H. R. Everett, Sensors for Mobile Robots: Theory and Application. Wellesley, MA: A. K. Peters, 1995.
21. D. Kortenkamp, R. P. Bonasso, and R. Murphy, Artificial Intelligence and Mobile Robots: Case Studies of Successful Robot Systems. Cambridge, MA: AAAI Press/MIT Press, 1998.
22. G. Dissanayake, P. Newman, S. Clark, H. Durrant-Whyte, and M. Csorba, "A solution to the simultaneous localization and map building (SLAM) problem," IEEE Trans. Robot. Automat., vol. 17, pp. 229-241, June 2001.
23. J. Guivant, E. Nebot, and H. Durrant-Whyte, "Simultaneous localization and map bidding using natural features in outdoor environments," Intell. Auton. Syst. 6, vol. 1, pp. 581-588, July 2000.
24. R. Talluri and J. K. Aggarwal, "Mobile robot self-location using model-image feature correspondence," IEEE Trans. Robot. Automat., vol. 12, pp. 63-77, Feb. 1996.
25. T. Chen and R. Shibasaki, "High precision navigation for 3-D mobile GIS in urban area by integrating GPS, gyro and image sequence analysis," in Proc. Int. Workshop Urban 3D/Multi-Media Mapping, Tokyo, Japan, 1999, pp. 147-156.
26. R. Nayak, "Reliable and continuous urban navigation using multiple GPS antennas and a low cost IMU," master's thesis, Dept. Geomatics Eng., Univ. of Calgary, Calgary, AB, Canada, 2000.
27. I. Stamos, "Geometry and texture recovery of scenes of large scale," J. Comput. Vis. Image Understand., vol. 88, no. 2, pp. 94-118, Nov. 2002.
28. P. Blaer, "Robot Path Planning Using Generalized Voronoi Diagrams,", http://www.cs.columbia.edu/~pblaer/projects /path-planner.
29. E. Gold, "AvenueUI: A comprehensive visualization/teleoperation application and development framework for multiple mobile robots," Master's thesis, Dept. Comput. Sci., Columbia Univ., New York, NY, 2001.
30. R. Brown and P. Hwang, Introduction to Random Signals and Applied Kalman Filtering, 3rd ed. New York: Wiley, 1997.
31. A. Georgiev, "Design, implementation and localization of a mobile robot for urban site modeling," Ph.D. dissertation, Columbia Univ., New York, NY, 2003.
32. M. Fischler and R. Bolles, "Random sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography," in DARPA, 1980, pp. 71-88.
33. R. Kumar and A. R. Hanson, "Robust methods for estimating pose and a sensitivity analysis," Comput. Vis. Graph. Image Process., vol. 60, no. 3, pp. 313-342, Nov. 1994.
34. B. K. P. Horn, "Relative orientation," Int. J. Comput. Vis., vol. 4, no. 1, pp. 59-78, 1990.
35. R. Y. Tsai, "A versatile camera calibration technique for high-accuracy 3-D machine vision metrology using off-the-shelf TV cameras and lenses," J. Robot. Automat., vol. RA-3, pp. 323-344, Aug. 1987.
36. I. Stamos and P. K. Allen, "Integration of range and image sensing for photorealistic 3D modeling," in Proc. IEEE Int. Conf. Robotics and Automation, San Francisco, CA, 2000, pp. II:1435-1440.