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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
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
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