High-speed laser localization for mobile robots

Robotics and Autonomous Systems

Volumn 51, Issue 4, 2005, Pages 275-296

  Lingemann, Kai ^a   Nüchter, Andreas ^a   Hertzberg, Joachim ^a   Surmann, Hartmut ^b  

^a UNIVERSITY OF OSNABRÜCK   (Germany)

^b FRAUNHOFER IAIS   (Germany)

Author keywords

Autonomous mobile robots; High speed robotics; Localization; Pose tracking; Scan matching

Indexed keywords

ALGORITHMS; ERROR ANALYSIS; LASERS; MATHEMATICAL TRANSFORMATIONS; OPTIMIZATION; SENSORS;

AUTONOMOUS MOBILE ROBOTS; HIGH SPEED ROBOTICS; LOCALIZATION; POSE TRACKING; SCAN MATCHING;

MOBILE ROBOTS;

EID: 19144363890     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2005.02.004     Document Type: Article

References (29)

1. A. Nüchter, H. Surmann, K. Lingemann, J. Hertzberg, and S. Thrun 6D-SLAM with an application in autonomous mine mapping Proceedings of the International Conference on Robotics and Automation (ICRA'04) New Orleans, USA 2004 1998 2003
2. H. Surmann, A. Nüchter, K. Lingemann, and J. Hertzberg 6D-SLAM - preliminary report on closing the loop in six dimensions Proceedings of the 5th Symposium on Intelligent Autonomous Vehicles (IAV'04) Lisbon, Portugal 2004
3. S. Thrun, D. Fox, and W. Burgard A real-time algorithm for mobile robot mapping with applications to multi-robot and 3D mapping Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'00) San Francisco, CA, USA 2000 321 328
4. F. Lu, and E. Milios Globally consistent range scan alignment for environment mapping Auton. Robots 4 1997 333 349
5. K. Lingemann, A. Nüchter, J. Hertzberg, H. Surmann, About the control of high speed mobile indoor robots, in: Proceedings of the European Conference on Mobile Robots (ECMR'05), 2005, submitted for publication.
6. Z. Xiang, V.M.F. Santos, and J. Liu Robust mobile robot localization by fusing laser and sonar Proceedings of the 11th IEEE International Conference on Advanced Robotics (ICAR'03) Coimbra, Portugal 2003 276 280
7. S. Se, D. Lowe, and J. Little Mobile robot localization and mapping with uncertainty using scale-invariant visual landmarks Int. J. Robot. Res. 21 2002 735 758
8. C. Cauchois, E. Brassart, L. Delahoche, and C. Drocourt Spatial localization method with omnidirectional vision Proceedings of the 11th IEEE International Conference on Advanced Robotics (ICAR'03) Coimbra, Portugal 2003 287 292
9. S. Pfister, K. Kriechbaum, S. Roumeliotis, and J. Burdick Weighted range sensor matching algorithms for mobile robot displacement estimation Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'02) 2002 667 1674
10. J.-H. Moon, B.-J. You, H. Kim, and S.-R. Oh Fast Markov localization using angle-histogram Proceedings of the 11th IEEE International Conference on Advanced Robotics (ICAR'03) Coimbra, Portugal 2003 411 416
11. T. Röfer Building consistent laser scan maps Proceedings of the 4th European Workshop on Advanced Mobile Robots (EUROBOT'01), vol. 86 2001 83 90
12. K.J. Kyriakopoulos, and N. Skounakis Moving obstacle detection for a skid-steered vehicle endowed with a single 2D laser scanner Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'03) Taipei, Taiwan 2003 7 12
13. E. Santiso, M. Mazo, J. Ureña, J.A. Jiménez, J.J. García, and M.C. Serra Mobile robot positioning with natural landmark Proceedings of the 11th IEEE International Conference on Advanced Robotics (ICAR'03) Coimbra, Portugal 2003 47 52
14. J.V. Bitterling, S. Küpper, and B. Mertsching Incremental feature-based pose tracking for a mobile robot Proceedings of the 11th IEEE International Conference on Advanced Robotics (ICAR'03) Coimbra, Portugal 2003 1038 1043
15. C.S.J.-S. Gutmann Amos: comparison of scan matching approaches for self-localization in indoor environments Proceedings of the 11th European Workshop on Advanced Mobile Robots (EUROBOT'96) Kaiserslautern, Germany 1996 61 67
16. F. Lu, and E. Milios Robot pose estimation in unknown environments by matching 2D range scans Proceedings of the IEEE Computer Vision and Pattern Recognition Conference (CVPR'94) 1994 935 938
17. I.J. Cox Blanche - an experiment in guidance and navigation of an autonomous robot vehicle J. IEEE Trans. Robot. Automat. (TRA'91) 7 2 1991 193 204
18. G. Weiß, C. Wetzler, and E. von Puttkamer Keeping track of position and orientation of moving indoor systems by correlation of range-finder scans Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Munich, Germany 1994 595 601
19. T. Einsele, Localization in indoor environments using a panoramic laser range finder, Ph.D. Thesis, Technische Universität München, Germany, 2001.
20. B. Horn Closed-form solution of absolute orientation using unit quaternions J. Opt. Soc. Am. A 4 4 1987 629 642
21. H. Surmann, K. Lingemann, A. Nüchter, and J. Hertzberg Fast acquiring and analysis of three-dimensional laser range data Proceedings of the 6th International Fall Workshop Vision, Modeling, and Visualization (VMV'01) Stuttgart, Germany 2001 59 66
22. G. Welch, G. Bishop, An introduction to the Kalman filter, Technical Report No. TR 95-041, Department of Computer Science, University of North Carolina, March 2003.
23. F. Lu, Shape registration using optimization for mobile robot navigation, Master's Thesis, University of Toronto, 1995.
24. J. Folkesson, and H. Christensen Outdoor exploration and SLAM using a compressed filter Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'03) Taipei, Taiwan 2003 419 426
25. A. Lankenau, and T. Röfer Mobile robot self-localization in large-scale environments Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'02) San Francisco, CA, USA 2002 1359 1364
26. D. Hähnel, R. Triebel, W. Burgard, and S. Thrun Map building with mobile robots in dynamic environments Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'03) 2003 1557 1563
27. C.-C. Wang, C. Thorpe, and S. Thrun Online simultaneous localization and mapping with detection and tracking of moving objects: theory and results from a ground vehicle in crowded urban areas Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'03) Taipei, Taiwan 2003 842 849
28. S. Thrun, D. Fox, W. Burgard, and F. Dellaert Robust Monte Carlo localization for mobile robots Artif. Intell. 128 1-2 2001 99 141
29. J.S. Gutmann Markov-Kalman localization for mobile robots Proceedings of the IEEE International Conference on Pattern Recognition (ICPR'02) Quebec, Canada 2002