Mobile robot localization using the Hausdorff distance

Robotica

Volumn 26, Issue 2, 2008, Pages 129-141

  Donoso Aguirre, F ^a   Bustos Salas, J P ^a   Torres Torriti, M ^a   Guesalaga, A ^a  

^a PONTIFICIA UNIVERSIDAD CATÓLICA DE CHILE   (Chile)

Author keywords

Hausdorff distance; Map matching; Mobile robot localization

Indexed keywords

DISTANCE MEASUREMENT; IMAGE ANALYSIS; OPTICAL RADAR; POSITION MEASUREMENT; ROBOTICS; VELOCITY MEASUREMENT;

DIFFERENTIAL DRIVE ROBOTS; HAUSDORFF DISTANCE; MAP MATCHING; MOBILE ROBOT LOCALIZATION;

MOBILE ROBOTS;

EID: 40349088989     PISSN: 02635747     EISSN: 14698668     Source Type: Journal    
DOI: 10.1017/S0263574707003657     Document Type: Article

References (70)

1. S. Thrun, W. Burgard and D. Fox, Probabilistic Robotics (MIT Press, Cambridge, MA, 2005).
2. G. D. Dudek and M. Jenkin, Computational Principles of Mobile Robotics (Cambridge University Press, Cambridge, UK, 2000).
3. J. Borenstein, H. Everett, L. Feng and D. Wehe, "Mobile robot positioning: Sensors and techniques," J. Robot. Syst. 14, 231-249 (1997).
4. S. Iyengar and A. Elfes, Autonomous Mobile Robots (IEEE Computer Society, Los Alamitos, CA, 1991).
5. A. Elfes, "Sonar-based real-world mapping and navigation," IEEE Trans. Robot. Autom. 3, 249-265 (1987).
6. J.J. Leonard and H. F. Durrant-Whyte, Directed Sonar Sensing for Mobile Robot Navigation (Kluwer Academic, Norwell, MA, 1992).
7. J. D. Tardós, J. Neira, P. Newman and J. Leonard, "Robust mapping and localization in indoor environments using sonar data," Int. J. Robot. Res. 21(4), 311-330 (2002).
8. I. J. Cox, "Blanche: An experiment in guidance and navigation of an autonomous robot vehicle," IEEE Trans. Robot. Autom. 7 (2), 193-203 (1991).
9. G. Weiss and E. Puttkamer, "A Map Based on Laserscans Without Geometric Interpretation," Proceedings of the Intelligent Autonomous Systems. (1995) pp. 403-407.
10. P. Jensfelt and H. Christensen, "Laser Based Position Acquisition and Tracking in an Indoor Environment,"
11. Proceedings of the IEEE International Symposium on Robotics and Automation (1998) pp. 331-338.
12. G. N. DeSouza and A. C. Kak, "Vision for mobile robot navigation: A survey," IEEE Trans. Pattern Anal. Mach. Intell. 24(2), 237-267 (2002).
13. A. Diosi and L. Kleeman, "Advanced Sonar and Laser Range Finder Fusion for Simultaneous Localization and Mapping," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (2004) pp. 1854-1859.
14. J. A. Castellanos, J. Neira and J. D. Tardós, "Multisensor fusion for simultaneous localization and map building," IEEE Trans. Robot. Autom. 17(6), 908-914 (2001).
15. J. A. Castellanos and J. D. Tardós, Mobile Robot Localization and Map Building: A Multisensor fusion Approach (Kluwer Academic, Norwell, MA, 1999).
16. R. Chatila and J.-P. Laumond, "Position Referencing and Consistent World Modeling for Mobile Robots," Proceedings of the IEEE International Conference on Robotics and Automation (1985) pp. 138-145.
17. J. L. Crowley, F. Wallner and B. Schiele, "Position Estimation Using Principal Components of Range Data," Proceedings of the IEEE International Conference on Robotics and Automation (1998) pp. 3128-3131.
18. W. J. Rucklidge, "Efficient visual recognition using the Hausdorff distance," Int. J. Comput. Vis. 24, 251-270 (1997).
19. D.-G. Sim and R.-H. Park, "Two-dimensional object alignment based on robust oriented Hausdorff similarity measure," IEEE Trans. Image Processing 10, 475-483 (2001).
20. A. Guesalaga, "Recursive estimation of radar biases using electronic charts," IEEE Trans. Aerospace Electro. Syst. 40(2), 725-733 (2004).
21. J. Gutmann, W. Burgard, D. Fox and K. Konolige, "An Experimental Comparison of Localization Methods," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (1998) pp. 736-743.
22. D. Filliat and J.-A. Meyer, "Map-based navigation in mobile robots. I. A review of localization strategies," Cogn. Syst. Res. 243-282 (2003).
23. C. F. Olson, "Probabilistic self-localization for mobile robots," IEEE Trans. Robot. Autom. 16(1), 55-66 (2000).
24. R. Talluri and J. Aggarwal, "Positional Estimation Techniques for An Autonomous Mobile Robot -A Review," In: Handbook of Pattern Recognition and Computer Vision (C. H. Chen, L. F. Pau and P. S. P. Wang, eds.) (World Scientific Singapore, 1993) Ch. 4.4, pp. 769-801.
25. B. Schiele and J. L. Crowley, "A comparison of position estimation techniques using occupancy grids," Robot. Autonom. Syst. 12, 163-171 (1994).
26. J.-S. Gutmann and C. Schlegel, "Amos: Comparison of Scan Matching Approaches for Self-localization in Indoor Environments," Proceedings of the 1st Euromicro Workshop on Advanced Mobile Robots (1996) pp. 61-67.
27. L. Iocchi, D. Mastrantuono and D. Nardi, "A Probabilistic Approach to Hough Localization," Proceedings of the IEEE International Conference on Robotics and Automation (2001) pp. 4250-4255.
28. I. Nourbakhsh, R. Powers, and S. Birchfield, "DERVISH an office-navigating robot," AI Mag. 16(2), 53-60 (1995).
29. R. Simmons and S. Koenig, "Probabilistic Robot Navigation in Partially Observable Environments," Proceedings of the International Joint Conference on Artificial Intelligence (1995).
30. L. Kaelbling, A. Cassandra and J. Kurien, "Acting Under Uncertainty: Discrete Bayesian Models for Mobile-Robot Navigation," Proceedings of the IEEE/RSJ International Conference Intelligent Robots and Systems (1996) pp. 963-972.
31. S. Thrun, "Bayesian landmark learning for mobile robot localization," Mach. Learning 33(1), 41-76 (1998).
32. N. Roy and S. Thrun, "Coastal navigation with mobile robots," Adv. Neural Processing Syst. 12, 1043-1049 (1999).
33. W. Burgard, D. Fox, D. Hennig and T. Schmidt, "Estimating the Absolute Position of a Mobile Robot Using Position Probability Grids," Proceedings of the 14th National Conference on Artificial Intelligence (1996) pp. 896-901.
34. W. Burgard, A. Derr, D. Fox and A. B. Cremers, "Integrating Global Position Estimation and Position Tracking for Mobile Robots: The Dynamic Markov Localization Approach," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (1998) pp. 730-735.
35. D. Fox, W Burgard and S. Thrun, "Markov localization for mobile robots in dynamic environments," J. Artif. Intell. Res. 11, 391-427 (1999).
36. F. Dellaert, D. Fox, W. Burgard and S. Thrun, "Monte Carlo Localization for Mobile Robots," Proceedings of the IEEE International Conference on Robotics and Automation (1999) pp. 1322-1328.
37. D. Fox, S. Thrun, F. Dellaert and W. Burgard, "Particle Filters for Mobile Robot Localization," In: Sequential Monte Carlo in Practice (A. Doucet, N. de Freitas and N. Gordon, eds.) (Springer-Verlag, Berlin, Germany, 2001).
38. F. Dellaert, "A Sample of Monte Carlo Methods in Robotics and Vision," Proceedings of the ISM International Symposium on the Science of Modeling -The 30th Anniversary of the Information Criterion (2003) pp. 211-222.
39. N. J. Gordon, D. J. Salmond and A. F. M. Smith, "Novel approach to nonlinear/Non-Gaussian Bayesian state estimation," IEE Proc. F 140 (2), 107-113 (1993).
40. G. Kitagawa, "Monte Carlo filter and smoother for non-Gaussian nonlinear state space models," J. Comput. Graphical Statist. 5(1), 1-25 (1996).
41. M. Isard and A. Blake, "Contour Tracking by Stochastic Propagation of Conditional Density," Proceedings of European Conference on Computer Vision (1996) pp. 343-356.
42. M. Isard and A. Blake, "Condensation-conditional density propagation for visual tracking," Int. J. Comput. Vis. 29(1), 5-28 (1998).
43. B. Ristic, S. Arulampalam and N. Gordon, Beyond the Kalman Filter: Particle Filters for Tracking Applications (Artech House Norwood, MA, 2004).
44. H. Moravec and A. Elfes, "High Resolution Maps from Wide Angle Sonar," Proceedings of the IEEE International Conference on Robotics and Automation (1985) pp. 116-121.
45. P. Jensfelt and S. Kristensen, "Active global localisation for a mobile robot using multiple hypothesis tracking," IEEE Trans. Robot. Autom. 17(5), 748-760 (2001).
46. J.-S. Gutmann and D. Fox, "An Experimental Comparison of Localization Methods Continued," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (2002) pp. 454-459.
47. S. Kristensen and P. Jensfelt, "An Experimental Comparison of Localisation Methods, the MHL Sessions," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (2003) pp. 992-997.
48. G. Schaffer, J. Gonzalez and A. Stentz, "Comparison of Two Range-Based Pose Estimators for a Mobile Robot," Proceedings of the 1992 SPIE Conference on Mobile Robots (1992) pp. 661-667.
49. L. Marchetti, G. Grisetti and L. Iocchi, "A Comparative Analysis of Particle Filter Based Localization Methods," Proc. of RoboCup Symposium (2006).
50. R. C. Veltkamp and M. Hagerdoom, "State of the Art in Shape Matching," In: Principles of Visual Information Retrieval (Advances in Pattern Recognition) (M. S. Lew ed.) (Springer, Berlin, Germany, 2006) pp. 87-115.
51. F. Lu and E E Milios, "Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans," Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition (1994) pp. 935-938.
52. F. Lu and E. Milios, "Globally consistent range scan alignment for environment mapping," Autonom. Robots 4, 333-349 (1997).
53. T. Bailey and E. Nebot, "Localisation in large-scale environments," Robot. Autonom. Syst. 37(4), 261-281 (2001).
54. S. T. Pfister, K. L. Kreichbaum, S. I. Roumeliotis and J.W. Burdick, "Weighted range Sensor Matching Algorithms for Mobile Robot Displacement Estimation," Proceedings of the IEEE International Conference on Robotics and Automation (2002) pp. 1667-1674.
55. J. Minguez, F. Lamiraux and L. Montesano, "Metric-Based Scan Matching Algorithms for Mobile Robot Displacement Estimation," Proceedings of the IEEE International Conference on Robotics and Automation (2005) pp. 3557-3563.
56. P. J. Besl and N. D. McKay, "A method for registration of 3-D shapes," IEEE Trans. Pattern. Anal. Mach. Intell. 14(2), 239-256 (1992).
57. Z. Zhang, "Iterative point matching for registration of freeform curves and surfaces," Int. J. Comput. Vis. 13(2), 119-152 (1994).
58. S. Rusinkiewicz and M. Levoy, "Efficient Variants of the ICP Algorithm," Proceedings of the International Conference on 3D Digital Imaging and Modeling (2001) pp. 145-152.
59. Y. Liu, "Improving ICP with easy implementation for free form surface matching," Pattern Recog. 37, 211-226 (2004).
60. A. Diosi and L. Kleeman, "Laser Scan Matching in Polar Coordinates with Application to SLAM," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (2005) pp. 3317-3322.
61. G. Weiss, C. Wetzler and E. 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 (1994) pp. 595-601.
62. A. C. Schultz and W. Adams, "Continuous localization using evidence grids," Proceedings of the IEEE International Conference on Robotics and Automation (1998) pp. 2833-2839.
63. K. Konolige and K. Chou, "Markov localization using correlation," Proceedings of the International Joint Conference on Articial Intelligence (1999) pp. 1154-1159.
64. L. Zhang and B. K. Ghosh, "Line Segment Based Map Building and Localization Using 2D Laser Rangefinder," Proceedings of the IEEE International Conference on Robotics and Automation (2000) pp. 2538-2543.
65. G. A. Borges and M.-J. Aldon, "Line extraction in 2D range images for mobile robotics," J. Intell. Robot. Syst. 40,267-297 (2004).
66. V. Nguyen, A. Martinelli, N. Tomatis and R. Siegwart, "A Comparison of Line Extraction Algorithms Using 2D Laser Rangefinder for Indoor Mobile Robotics," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (2005) pp. 1929-1934.
67. D. P. Bertsekas, Nonlinear Programming 2nd ed. (Athena Scientific, Belmont, MA, 2004).
68. D. P. Huttenlocher, G. A. Klanderman and W. J. Rucklidge, "Comparing images using the Hausdorff distance," IEEE Trans. Pattern Anal. Mach. Intell. 15(9), (1993) 850-863.
69. O. Kwon, D.-G. Sim and R.-H. Park. "Nonparametric hierarchical Hausdorff distance matching algorithm," Opt. Eng. 39, 1917-1927, (2000).
70. D. W. Taylor, P. N. Johnson and W. T. Faulkner, "Local Area Radio Navigation: A Tool for GPS-denied Geolocation," Proceedings of the SPIE-Aerosense Conf. (2003) Vol. 5084, pp. 125-136.