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Effective Indoor Robot Localization by Stacked Bidirectional LSTM Using Beacon-Based Range Measurements

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Robot Intelligence Technology and Applications (RiTA 2018)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 1015))

Abstract

In this paper, we propose a stacked bidirectional Long Short-Term Memory (stacked Bi-LSTM) for accurate localization of a robot. Using deep learning, the proposed structure directly maps range measurements from beacons into robot position. This operation non-linearly maps the relationship not only considering the long-range dependence of sequential distance data but also using the correlation of the backward information and the forward information of the sequence of each time step by virtue of its bidirectional architecture. Our stacked bidirectional LSTM structure exhibits better estimates of robot positions than other RNN structure units on the simulated environment. In addition, experiments suggest that even if the robot position is not included in the training dataset, our method is able to predict robot positions with small errors through sequential distance data.

H. Lim—This material is based upon work supported by the Ministry of Trade, Industry & Energy (MOTIE, Korea) under Industrial Technology Innovation Program. No. 10067202, ‘Development of Disaster Response Robot System for Lifesaving and Supporting Fire Fighters at Complex Disaster Environment’.

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Authors and Affiliations

  1. Urban Robotics Lab, KAIST, 291, Daehak-ro, Yuseong-gu, Daejeon, Republic of Korea

    Hyungtae Lim & Hyun Myung

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  1. Hyungtae Lim
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  2. Hyun Myung
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Correspondence to Hyun Myung .

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Editors and Affiliations

  1. Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea (Republic of)

    Jong-Hwan Kim

  2. Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea (Republic of)

    Hyung Myung

  3. Keimyung University, Daegu, Korea (Republic of)

    Seung-Mok Lee

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Lim, H., Myung, H. (2019). Effective Indoor Robot Localization by Stacked Bidirectional LSTM Using Beacon-Based Range Measurements. In: Kim, JH., Myung, H., Lee, SM. (eds) Robot Intelligence Technology and Applications. RiTA 2018. Communications in Computer and Information Science, vol 1015. Springer, Singapore. https://doi.org/10.1007/978-981-13-7780-8_12

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  • DOI: https://doi.org/10.1007/978-981-13-7780-8_12

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-13-7779-2

  • Online ISBN: 978-981-13-7780-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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