Extraction and matching of elevation moment of inertia for elevation map-based localization of an outdoor mobile robot

Journal of Institute of Control, Robotics and Systems

Volumn 15, Issue 2, 2009, Pages 203-210

  Kwon, Tae Bum ^a   Song, Jae Bok ^a   Kang, Sin Cheon ^a  

^a NONE

Author keywords

Feature matching; Localization; Moment of inertia; Outdoor navigation

Indexed keywords

ELEVATION MAPS; FEATURE MATCHING; LOCALIZATION; MARKOV LOCALIZATIONS; MOMENT OF INERTIA; OUTDOOR MOBILE ROBOTS; OUTDOOR NAVIGATION; PROBABILISTIC APPROACHES;

GLOBAL POSITIONING SYSTEM;

EID: 84856524324     PISSN: 19765622     EISSN: None     Source Type: Journal    
DOI: 10.5302/J.ICROS.2009.15.2.203     Document Type: Article

References (9)

1. E. Shaffer and M. Garland, "A Multiresolution Representation for Massive Meshes," IEEE Trans. on Visualization and Computer Graphics, vol. 11, no. 2, pp. 139-148, March-April 2005.
2. H. Durrant-Whyte and T. Bailey, "Simultaneous Localization and Mapping: Part I, the essential algorithms," IEEE Robotics and Automation Magazine, vol. 13, no. 2, pp. 99-110, March 2006.
3. C. Fruh and A. Zakhor, "An Automated Method for Large-Scale Ground-based City Model Acquisition," Trans. on International Journal of Computer Vision, vol. 60, no. 1, pp. 5-24, Oct. 2004.
4. H. Bay, A. Ess, T. Tuytelaars, and L. V. Gool, "Speeded Up Robust Features (SURF)," Trans. on Computer Vision and Image Understanding, vol. 110, no. 3, pp. 346-359, June 2008.
5. H. Laga, H. Takahasi, and M. Nakajima, "Spherical Wavelet Descriptors for Content-based 3D Model Retrieval," Proc. of International Conference on Shape Modeling and Applications, pp. 75-85, June 2006.
6. th Pacific Conference on Computer Graphics and Applications(PG'02), pp. 265-274, Oct. 2002.
7. J. Borenstein and L. Feng, "Gyrodometry: A New Method for Combining Data from Gyros and Odometry in Mobile Robots," Proc. of International Conference on Robotics and Automation, pp. 423-428, April 1996.
8. R. Siegwart and I. R. Nourbakhsh, Introduction to Autonomous Mobile Robot, The MIT Press, 2004.
9. D. Fox, Markov Localization: A Probabilistic Framework for Mobile Robot Localization and Navigation, Doctoral Thesis, Univ. of Bonn, Germany, 1998.