Cart (Loading....) | Create Account
Close category search window
 

DSM update for robust outdoor localization using ICP-based scan matching with COAG features of laser range data

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Yong-Hoon Ji ; Korea Univ., Seoul, South Korea ; Sung-Ho Hong ; Jae-Bok Song ; Ji-Hoon Choi

Localization of a mobile robot is a very important task for autonomous navigation. However, with only an initially inaccurate map, a mobile robot cannot estimate its pose robustly because of the inconsistency between the real observations from the environment and the predicted observations on the inaccurate map. The main map used for outdoor environment is DSM (Digital Surface Model) which consists of 2-D grids with elevation information on each grid. In this research, the inaccurate DSM is updated using both estimated robot pose and a local elevation map built by laser range data. In order to match the reference DSM with the local elevation map, ICP (Iterative Closest Points)-based scan matching technique with COAG (commonly observed from air and ground) features is used. Also, the robot pose is estimated by MCL (Monte Carlo localization). Experimental results show that the updated DSM yields better performance in localization compared to non-updated DSM. Error analysis of estimated paths from each map is presented with respect to the ground truth.

Published in:

System Integration (SII), 2011 IEEE/SICE International Symposium on

Date of Conference:

20-22 Dec. 2011

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.