Abstract
Scanning laser range sensors provide range data consisting of a set of point measurements. The laser sensor URG-04LX has a distance range of approximately 0.02–4 m and a scanning angle range of 240°. Usually, such an image range is acquired from one viewpoint by “moving” the laser beam using rotating mirrors/prisms. The orientation of the laser beam can easily be measured and converted into the coordinates of the image. This article conducts localization using virtual labels with data about distances in the environment obtained from 2D distance laser sensors. This method puts virtual labels on special features and points which are along the mobile robot’s path. The current location is calculated by combining the virtual label and the range image of the laser range finder.
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This work was presented in part and was awarded Best Paper Award at the 16th International Symposium on Artificial Life and Robotics, Oita, Japan, January 27–29, 2011
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Yu, K.H., Lee, M.C., Heo, J.H. et al. Localization algorithm using a virtual label for a mobile robot in indoor and outdoor environments. Artif Life Robotics 16, 361–365 (2011). https://doi.org/10.1007/s10015-011-0951-7
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DOI: https://doi.org/10.1007/s10015-011-0951-7