A GPS and laser-based localization for urban and non-urban outdoor environments

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Volumn , Issue , 2008, Pages 149-154

  Hentschel, Matthias ^a   Wulf, Oliver ^a   Wagner, Bernardo ^a  

^a LEIBNIZ UNIVERSITY HANNOVER   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

CLOSE DISTANCE; GLOBAL LOCALIZATION; LASER MEASUREMENTS; LASER RANGE DATA; LINE FEATURES; LOCALIZATION SYSTEM; MONTE CARLO LOCALIZATION; PRECISE POSITION; REAL WORLD EXPERIMENT; REFERENCE MAP; SENSOR FUSION; URBAN OUTDOOR; WHEEL ODOMETRY;

CONTROL THEORY; INTELLIGENT ROBOTS; LASERS; TIME VARYING SYSTEMS; TRACKING (POSITION);

GLOBAL POSITIONING SYSTEM;

EID: 69549112983     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2008.4650585     Document Type: Conference Paper

References (13)

1. D. Fox, W. Burgard, F. Dellaert and S. Thrun, "Monte Carlo Localization: Efficient Position Estimation for Mobile Robots", in American Association for Artificial Intelligence, 1999.
2. H. Gross, A. Koenig, H. Boehme and C. Schroeter, "Vision based Monte Carlo Self-Localization for a Mobile Service Robot Acting as Shopping Assistant in a Home Store", in International Conference on Intelligent Robots and Systems (ICRA), Lausanne, Switzerland, 2002.
3. R. E. Kalman, "A New Approach to Linear Filtering and Prediction Problems", in Transactions of the ASME - Journal of Basic Engineering, 1960.
4. A. Kelly et. al., "Towards Reliable Off Road Autonomous Vehicles Operating in Challenging Environments" in International Journal of Robotics Research, vol.25, 2006.
5. S. Kolski, D. Ferguson, M. Bellino and R. Siegwart, "Autonomous Driving in Structured and Unstructured Environments", in IEEE Intelligent Vehicles Symposium, 2006.
6. N. Schmitz, J. Koch, M. Proetzsch and K. Berns, "Fault-Tolerant 3D Localization for Outdoor Vehicles", in International Conference on Intelligent Robots and Systems (IROS), 2006.
7. S. Thrun, "Probabilistic Algorithms in Robotics", in AI Magazine, vol.21 (4), 2000.
8. S. Thrun, D.Fox, W. Burgard and F. Dellaert, "Robust Monte Carlo Localization for Mobile Robots", in Artificial Intelligence, vol.128, 2001.
9. S. Thrun et. Al., "Stanley, the Robot That Won the DARPA Grand Challenge", in Journal of Field Robotics, 2006.
10. G. Welch and G. Bishop, "An Introduction to the Kalman Filter", in Kalman
11. O. Wulf, and B. Wagner, "Fast 3D-Scanning Methods for Laser Measurement Systems", in International Conference on Control Systems and Computer Science, 2003.
12. O. Wulf, K. O. Arras, H. I. Christensen and B. Wagner, "2D Mapping of Cluttered Indoor Environments by Means of 3D Perception", in International Conference on Robotics and Automation (ICRA), 2004.
13. O. Wulf, A. Nuechter, J. Hertzberg and B. Wagner, "Ground truth evaluation of Large Urban 6D SLAM", in International Conference on Intelligent Robots and Systems (IROS), 2007.