LiU Electronic Press
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Author:
Schulenburg, E. (Universität Freiburg)
Weigel, T. (Universität Freiburg)
Kleiner, Alexander (Universität Freiburg)
Title:
Self-Localization in Dynamic Environments based on Laser and Vision Data
Publication type:
Conference paper (Refereed)
Language:
English
In:
Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)
Publisher: IEEE
Pages:
998-1004
Year of publ.:
2003
URI:
urn:nbn:se:liu:diva-72568
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-72568
ISBN:
0-7803-7860-1
Subject category:
Engineering and Technology
Robotics
Project:
Artificial Intelligence & Integrated Computer Systems
Abstract(en) :

For a robot situated in a dynamic real world environment the knowledge of its position and orientation is very advantageous and sometimes essential for carrying out a given task. Particularly, one would appreciate a robust, accurate and efficient selflocalization method which allows a global localization of the robot. In certain polygonal environments a laser based localization method is capable of combining all these properties by correlating observed lines with an a priori line model of the environment [5] . However, often line features can rather be detected by a vision system than by a laser range finder. For this reason we propose an extension of the laser based approach for the simultaneous use with lines detected by an omni-directional camera. The approach is evaluated in the RoboCup domain and experimental evidence is given for its robustness, accuracy and efficiency, as well as for its capability of global localization.

Available from:
2011-11-29
Created:
2011-11-28
Last updated:
2011-11-29
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