Abstract:
This paper presents an algorithm for the global localization of mobile robots. The general idea is to build a local map incrementally which is matched to a global map in ...Show MoreMetadata
Abstract:
This paper presents an algorithm for the global localization of mobile robots. The general idea is to build a local map incrementally which is matched to a global map in each localization step. The matching algorithm is a very time and memory efficient enhancement of the common Random Sample Consensus (RANSAC). It is executed a fixed number of iterations computing a set of hypotheses of the current robot pose. This paper describes how to handle the resulting hypotheses, i.e. a method is introduced deciding when the robot is localized reliably enough. The algorithm has been implemented and its characteristics are evaluated and discussed in an experimental section.
Date of Conference: 03-07 May 2010
Date Added to IEEE Xplore: 15 July 2010
ISBN Information:
Print ISSN: 1050-4729