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Proceedings of the 1998 IEEE International Conference on Robotics& Automation
 

Summary: Proceedings of the 1998 IEEE
International Conference on Robotics& Automation
Leuven, Belgium. May 1998
Hybrid, High-Precision Localisation for the
Mail Distributing Mobile Robot System MOPS
Kai O. Arrast, Sjur J. Vestli$
+ Autonomous Systems Lab, Swiss Federal Institute of Technology (EPFL), CH- 1015 Lausanne
* Institute of Robotics, Swiss Federal Institute of Technology (ETHZ), CH-8092 Zurich
Abstract
This paper describes the new localisation algorithms un-
der implementation for the mail distributing mobile robot,
MOPS, of the Institute of Robotics, Swiss Federal Institute
of Technology Zurich. Using geometric primitives as fea-
tures, we employ consistent probabilistic feature extrac-
tion, clustering, matching and estimation of the vehicle
position and orientation. The extracted features and their
jirst-order covariance estimates are used, together with a
world model, by an extended Kalman filter so as to get an
optimal estimate of MOPS' current pose vector and the as-
sociated uncertainty. The line extraction consists of an in-

  

Source: Arras, Kai O. - Institut für Informatik, Albert-Ludwigs-Universität Freiburg

 

Collections: Computer Technologies and Information Sciences