Robust localization method based on free-space observation model using 3D-map

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

16 Citations (Scopus)

Abstract

This paper proposes robust localization method using a free-space observation model with a 3D map for a particle filter. The free-space observation model judges whether the free space of a laser beam of a sensor is appropriate. The observation model realizes highly robust localization in outdoor environments with many unknown obstacles. This paper describes the free-space observation model and the increase in the calculation speed of the observation model. The proposed localization method achieves 1-km localization in outdoor environments with many unknown objects.

Original languageEnglish
Title of host publication2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Pages973-979
Number of pages7
DOIs
Publication statusPublished - 2010 Dec 1
Event2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 - Tianjin, China
Duration: 2010 Dec 142010 Dec 18

Publication series

Name2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010

Other

Other2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Country/TerritoryChina
CityTianjin
Period10/12/1410/12/18

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biotechnology
  • Human-Computer Interaction

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