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A real-time robust global localization for autonomous mobile robots in large environments

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4 Author(s)
Jianping Xie ; IMARA Team, INRIA Rocquencourt, Paris, France ; Nashashibi, F. ; Parent, M. ; Favrot, O.G.

Global localization aims to estimate a robot's pose in a learned map without any prior knowledge of its initial pose. Achieving highly accurate global localization remains a challenge for autonomous mobile robots especially in large-scale unstructured outdoor environments. This paper introduces a real-time reliable global localization approach with the capability of addressing the kidnapped robot problem using only laser sensors. Our approach includes four steps: 1) local Simultaneous Localization and Mapping 2) map matching 3) position tracking and 4) localization quality evaluation. For sensor perception, we use occupancy grid method to represent robot environment. A novel pyramid grid-map based coarse-to-fine matching approach is proposed to improve the localization accuracy. Experimental results including an outdoor environment of 25, 000 m2 are presented to validate the feasibility and reliability of the proposed approach.

Published in:

Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on

Date of Conference:

7-10 Dec. 2010

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