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Localization Failure Detection for Autonomous Mobile Robots in Crowded Environment Based on Observation Likelihood Maps Precomputed in Simulations | IEEE Conference Publication | IEEE Xplore
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Localization Failure Detection for Autonomous Mobile Robots in Crowded Environment Based on Observation Likelihood Maps Precomputed in Simulations


Abstract:

This paper describes a method to detect localization failure for mobile robots. In spite of advances in localization methods, mobile robots still may fail in estimating i...Show More

Abstract:

This paper describes a method to detect localization failure for mobile robots. In spite of advances in localization methods, mobile robots still may fail in estimating its pose due to degeneration of observations, or unexpected objects around them obstructing observations. We propose a method for mobile robots to monitor these kinds of failures and then take actions for restoring correct localization status.
Date of Conference: 14-17 October 2019
Date Added to IEEE Xplore: 09 December 2019
ISBN Information:

ISSN Information:

Conference Location: Lisbon, Portugal

References

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