Industrial environments are rarely static and oftentheir configuration is continuously changing due to the materialtransfer flow. This is a major challenge for infrastructure freelocalization systems. In this paper we address this challengeby introducing a localization approach that uses a dualtimescaleapproach. The proposed approach - Dual-TimescaleNormal Distributions Transform Monte Carlo Localization (DTNDT-MCL) - is a particle filter based localization method,which simultaneously keeps track of the pose using an aprioriknown static map and a short-term map. The short-termmap is continuously updated and uses Normal DistributionsTransform Occupancy maps to maintain the current state ofthe environment. A key novelty of this approach is that it doesnot have to select an entire timescale map but rather use thebest timescale locally. The approach has real-time performanceand is evaluated using three datasets with increasing levels ofdynamics. We compare our approach against previously proposedNDT-MCL and commonly used SLAM algorithms andshow that DT-NDT-MCL outperforms competing algorithmswith regards to accuracy in all three test cases. ; Institut de Robòtica i Informàtica industrial - UPC, Joint Research Center of the Technical University of Catalonia (UPC) and the Spanish Council for Scientific Research (CSIC) focused on robotics research ; FP7-ICT-600877 (SPENCER)


    Access

    Download


    Export, share and cite



    Title :

    Localization in highly dynamic environments using dual-timescale NDT-MCL



    Publication date :

    2014-01-01



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Localization in highly dynamic environments using dual-timescale NDT-MCL

    Valencia Carreño, Rafael / Saarinen, Jari / Andreasson, Henrik et al. | BASE | 2014

    Free access

    Slow Timescale Adaptive Control for Multiple-Timescale Systems

    Eves, Kameron / Valasek, John | AIAA | 2023


    DYNAMIC RECTIFIER CIRCUITS WITH MULTIPLE-ORDER TIMESCALE FEEDBACK CONTROLS

    ARNITZ DANIEL / ARNSTEIN LAWRENCE F / BOWERS JEFFREY A et al. | European Patent Office | 2020

    Free access

    DYNAMIC RECTIFIER CIRCUITS WITH MULTIPLE-ORDER TIMESCALE FEEDBACK CONTROLS

    ARNITZ DANIEL / ARNSTEIN LAWRENCE F / BOWERS JEFFREY A et al. | European Patent Office | 2020

    Free access

    DYNAMIC RECTIFIER CIRCUITS WITH MULTIPLE-ORDER TIMESCALE FEEDBACK CONTROLS

    ARNITZ DANIEL / ARNSTEIN LAWRENCE F / BOWERS JEFFREY A et al. | European Patent Office | 2020

    Free access