Localization and place recognition using an ultra-wide band (UWB) radar

Eijiro Takeuchi, Alberto Elfes, Jonathan Roberts

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

This paper presents an approach to mobile robot localization, place recognition and loop closure using a monostatic ultra-wide band (UWB) radar system. The UWB radar is a time-of-flight based range measurement sensor that transmits short pulses and receives reflected waves from objects in the environment. The main idea of the poposed localization method is to treat the received waveform as a signature of place. The resulting echo waveform is very complex and highly depends on the position of the sensor with respect to surrounding objects. On the other hand, the sensor receives similar waveforms from the same positions.Moreover, the directional characteristics of dipole antenna is almost omnidirectional. Therefore, we can localize the sensor position to find similar waveform from waveform database. This paper proposes a place recognitionmethod based on waveform matching, presents a number of experiments that illustrate the high positon estimation accuracy of our UWB radar-based localization system, and shows the resulting loop detection performance in a typical indoor office environment and a forest.

Original languageEnglish
Title of host publicationField and Service Robotics - Results of the 9th International Conference
EditorsLuis Mejias, Peter Corke, Jonathan Roberts, Jonathan Roberts
PublisherSpringer-Verlag
Pages275-288
Number of pages14
ISBN (Electronic)9783319074870
DOIs
Publication statusPublished - 2015 Jan 1
Event9th International Conference on Field and Service Robotics, FSR 2013 - Brisbane, Australia
Duration: 2013 Dec 92013 Dec 11

Publication series

NameSpringer Tracts in Advanced Robotics
Volume105
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

Other

Other9th International Conference on Field and Service Robotics, FSR 2013
CountryAustralia
CityBrisbane
Period13/12/913/12/11

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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