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Robotics and Autonomous Systems 34 (2001) 131143 Multisensor on-the-fly localization
 

Summary: Robotics and Autonomous Systems 34 (2001) 131­143
Multisensor on-the-fly localization:
Precision and reliability for applications
Kai O. Arras, Nicola Tomatis, Björn T. Jensen, Roland Siegwart
Autonomous Systems Lab, Swiss Federal Institute of Technology Lausanne (EPFL), CH-1015 Lausanne, Switzerland
Abstract
This paper presents an approach for localization using geometric features from a 360 laser range finder and a monocular
vision system. Its practicability under conditions of continuous localization during motion in real time (referred to as on-the-fly
localization) is investigated in large-scale experiments. The features are infinite horizontal lines for the laser and vertical lines
forthecamera.Theyareextractedusingphysicallywell-groundedmodelsforallsensorsandpassedtoaKalmanfilterforfusion
and position estimation. Positioning accuracy close to subcentimeter has been achieved with an environment model requiring
30 bytes/m2. Already with a moderate number of matched features, the vision information was found to further increase this
precision, particularly in the orientation. The results were obtained with a fully self-contained system where extensive tests with
anoveralllengthofmorethan6.4 kmand150,000localizationcycleshavebeenconducted.Thefinaltestbedforthislocalization
system was the Computer 2000 event, an annual computer tradeshow in Lausanne, Switzerland, where during 4 days visitors
could give high-level navigation commands to the robot via a web interface. This gave us the opportunity to obtain results
on long-term reliability and verify the practicability of the approach under application-like conditions. Furthermore, general
aspects and limitations of multisensor on-the-fly localization are discussed. © 2001 Elsevier Science B.V. All rights reserved.
Keywords: Mobile robot localization; On-the-fly localization; Position tracking; Multisensor data fusion; Kalman filtering
1. Introduction

  

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

 

Collections: Computer Technologies and Information Sciences