On the position accuracy of mobile robot localization based on particle filters combined with scan matching

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2012, Pages 3158-3164

  Rowekamper, Jorg ^a   Sprunk, Christoph ^a   Tipaldi, Gian Diego ^a   Stachniss, Cyrill ^a   Pfaff, Patrick ^b   Burgard, Wolfram ^a  

^a UNIVERSITY OF FREIBURG   (Germany)

^b KUKA Laboratories GmbH   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

ACCURATE MOTION; MOBILE PLATFORM; MOBILE ROBOT LOCALIZATION; MOBILE ROBOTIC; MONTE CARLO LOCALIZATION; PARTICLE FILTER; POSE ACCURACY; POSITION ACCURACY; POSITIONING SYSTEM; ROBOT POSE; ROBOTIC APPLICATIONS; SCAN MATCHING; STANDARD COMPONENTS;

INDUSTRIAL APPLICATIONS; INTELLIGENT SYSTEMS; ROBOT APPLICATIONS;

ROBOTICS;

EID: 84872342438     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2012.6385988     Document Type: Conference Paper

References (25)

1. H. Andreasson, A. Treptow, and T. Duckett. Localization for mobile robots using panoramic vision, local features and particle filter. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), 2005.
2. M. Bennewitz, C. Stachniss, W. Burgard, and S. Behnke. Metric localization with scale-invariant visual features using a single perspective camera. In European Robotics Symposium 2006, volume 22 of STAR Springer tracts in advanced robotics, pages 143-157, 2006.
3. D. Brščić and H. Hashimoto. Comparison of robot localization methods using distributed and onboard laser range finders. In IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, 2008.
4. A. Censi. An ICP variant using a point-to-line metric. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), Pasadena, CA, May 2008.
5. D. Chetverikov, D. Svirko, D. Stepanov, and P. Krsek. The trimmed iterative closest point algorithm. In Proc. of the Int. Conf. on Pattern Recognition, 2002.
6. H. Cho and S.W. Kim. Mobile robot localization using biased chirpspread- spectrum ranging. IEEE Trans. on Industrial Elect., 57, 2010.
7. F. Dellaert, W. Burgard, D. Fox, and S. Thrun. Using the Condensation algorithm for robust, vision-based mobile robot localization. In Proc. of the IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), 1999.
8. F. Dellaert, D. Fox, W. Burgard, and S. Thrun. Monte Carlo localization for mobile robots. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), 1999.
9. F. Duvallet and A. Tews. Wifi position estimation in industrial environments using Gaussian processes. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2008.
10. P. Elinas and J.J. Little. σMCL: Monte-Carlo localization for mobile robots with stereo vision. In Proc. of Robotics: Science and Systems (RSS), 2005.
11. B. Ferris, D. Haehnel, and D. Fox. Gaussian processes for signal strength-based location estimation. In Proc. of Robotics: Science and Systems (RSS), 2005.
12. D. Fox. Adapting the sample size in particle filters through kldsampling. Int. Journal of Robotics Research, 22, 2003.
13. D. Fox, W. Burgard, and S. Thrun. Markov localization for mobile robots in dynamic environments. Journal on Artificial Intelligence Reserach (JAIR), 11, 1999.
14. G. Grisetti, R. Kümmerle, C. Stachniss, U. Frese, and C. Hertzberg. Hierarchical optimization on manifolds for online 2d and 3d mapping. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), 2010.
15. H.-M. Gross, A. Köning, C. Schröter, and H.-J. Böhme. Omnivisionbased probabilistic self-localization for a mobile shopping assistant continued. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2003.
16. J.-S. Gutmann, W. Burgard, D. Fox, and K. Konolige. An experimental comparison of localization methods. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 1998.
17. E. Ivanjko, A. Kitanov, and I. Petrović. Robot Localization and Map Building, chapter Model based Kalman Filter Mobile Robot Self-Localization, pages 59-89. In-Tech, Vukovar, Croatia, 2010.
18. P. Jensfelt, D. Austin, O. Wijk, and M. Andersonn. Feature based condensation for mobile robot localization. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), 2000.
19. J.J. Leonard and H.F. Durrant-Whyte. Mobile robot localization by tracking geometric beacons. IEEE Transactions on Robotics and Automation, 7(4):376-382, 1991.
20. E. Menegatti, M. Zoccarato, E. Pagello, and H. Ishiguro. Image-based Monte-Carlo localisation with omnidirectional images. Robotics & Autonomous Systems, 48(1):17-30, 2004.
21. M. Quigley, D. Stavens, A. Coates, and S. Thrun. Sub-meter indoor localization in unmodified environments with inexpensive sensors. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2010.
22. S. Se, D.G. Lowe, and J.J. Little. Global localization using distinctive visual features. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2002.
23. C. Sprunk, B. Lau, P. Pfaff, and W. Burgard. Online generation of kinodynamic trajectories for non-circular omnidirectional robots. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), 2011.
24. S. Thrun, W. Burgard, and D. Fox. Probabilistic Robotics. MIT Press, Cambridge, MA, USA, 2005.
25. S. Thrun, D. Fox, W. Burgard, and F. Dellaert. Robust Monte Carlo localization for mobile robots. Artificial Intelligence, 128, 2001.