This paper presents an algorithm for fusing scans from a time-of-flight laser and odometer readings from the robot. The range weighted Hough transform is used as a robust method to extract lines from the range data. The resulting peaks are used as feature coordinates when these lines/walls are used as landmarks during navigation. The associations between observations over the time sequence are made in a systematic way using a decision directed classifier. Natural geometrical landmarks are described in the robot frame together with a covariance matrix representing the spatial uncertainty. The map is thus built incrementally as the robot moves. If the map is given in advance the robot can find its location and navigate relative to the map. Experimental results and simulations are presented for a mobile robot with a scanning range measuring laser with 2 cm resolution ; Godkänd; 1994; 20061126 (ysko)


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    On robot navigation using identical landmarks : integrating measurements from a time-of-flight laser


    Beteiligte:
    Larsson, Ulf (Autor:in) / Forsberg, Johan (Autor:in) / Wernersson, Åke (Autor:in)

    Erscheinungsdatum :

    1994-01-01



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Indoor mobile robot navigation using doorplate landmarks

    Zou,A.M. / Hou,Z.G. / Tan,M. et al. | Kraftfahrwesen | 2006


    Topological Mobile Robot Navigation Using Artificial Landmarks

    Esparza, David / Savage, Jesus | IEEE | 2013


    Mobile robot localization: integrating measurements from a time-of-flight laser

    Larsson, Ulf / Forsberg, Johan / Wernersson, Åke | BASE | 1996

    Freier Zugriff

    Visually-guided robot navigation: From artificial to natural landmarks

    Celaya, Enric / Albarral García, José Luís / Jiménez Schlegl, Pablo et al. | BASE | 2007

    Freier Zugriff

    Navigation using selected visual landmarks

    KERZNER DANIEL TODD / SEYFI AHMAD / MEYER TIMON et al. | Europäisches Patentamt | 2023

    Freier Zugriff