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Author:
Meyer-Delius, D. (University of Freiburg)
Beinhofer, M. (University of Freiburg)
Kleiner, Alexander (University of Freiburg)
Burgard, W. (University of Freiburg)
Title:
Using artificial landmarks to reduce the ambiguity in the environment of a mobile robot
Publication type:
Conference paper (Refereed)
Language:
English
In:
IEEE Int. Conf. on Robotics and Automation (ICRA)
Conference:
2011 IEEE International Conference on Robotics and Automation, Shanghai International Conference Center, May 9-13, 2011, Shanghai, China
Pages:
5173-5178
Year of publ.:
2011
URI:
urn:nbn:se:liu:diva-72521
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-72521
Subject category:
Robotics
Project:
Artificial Intelligence & Integrated Computer Systems
Abstract(en) :

Robust and reliable localization is a fundamental prerequisite for many applications of mobile robots. Although there exist many solutions to the localization problem, structurally symmetrical or featureless environments can prevent different locations from being distinguishable given the data obtained with the robot’s sensors. Such ambiguities typically make localization approaches more likely to fail. In this paper, we investigate how artificial landmarks can be utilized to reduce the ambiguity in the environment. We present a practical approach to compute a configuration of indistinguishable landmarks that decreases the overall ambiguity and thus increases the robustness of the localization process. We evaluate our approach in different environments based on real data and in simulation. Our results demonstrate that our approach improves the localization performance of the robot and outperforms other landmark selection approaches.

Available from:
2011-11-29
Created:
2011-11-28
Last updated:
2011-12-15
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