This paper provides a detailed description of a set of algorithms to efficiently manipulate 3D geometric models to compute physical constraints and range observation models, data that is usually required in real-time mobile robotics or simulation. Our approach uses a standard file format to describe the environment and processes the model using the openGL library, a widely-used programming interface for 3D scene manipulation. The paper also presents results on a test model for benchmarking, and on a model of a real urban environment, where the algorithms have been effectively used for real-time localization in a large urban setting. ; Postprint (author’s final draft)


    Access

    Download


    Export, share and cite



    Mobile robot localization failure recovery

    Seifzadeh, Sepideh | BASE | 2010

    Free access

    Robot localization in symmetric environment

    Akhavan Malayeri, Ali | BASE | 2010

    Free access

    RSSI-based mobile robot localization datasets

    Maidana, Renan | BASE | 2018

    Free access

    Monocular Localization of a Mobile Robot

    Fleury, S. / Baron, T. / Herrb, M. | British Library Conference Proceedings | 1993