The work introduces design and comparison of different-brand methods for position localization of indoor mobile robots. Both the methods derive the robot relative position from a structure of the working environment based on measurements gathered by a TOF-based laser ranging system. The first presented method applies statistical description of the scene while the other one relies on a feature-based matching approach. Both the approaches provide method-specific behavior, which has been recognized in experiments with real data. The obtained results are compared and further improvements of the localization robustness via their combination are discussed.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Range scan-based localization methods for mobile robots in complex environments


    Contributors:
    Mazl, R. (author) / Kulich, M. (author) / Preucil, L. (author)


    Publication date :

    2001-01-01


    Size :

    458769 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Range Scan-Based Localization Methods for Mobile Robots in Complex Environments

    Mazl, R. / Kulich, M. / Preucil, L. et al. | British Library Conference Proceedings | 2001


    Hybrid Localization Solution for Autonomous Mobile Robots in Complex Environments

    Rebelo, Paulo M. / Valente, António / Oliveira, Paulo Moura et al. | Springer Verlag | 2024