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

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

14 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
CountryChina
CityTianjin
Period10/12/1410/12/18

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biotechnology
  • Human-Computer Interaction

Fingerprint Dive into the research topics of 'Robust localization method based on free-space observation model using 3D-map'. Together they form a unique fingerprint.

Cite this