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Range scan-based localization methods for mobile robots in complex environments

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3 Author(s)
Mazl, R. ; Lab. for Intelligent Decision-Making & Control, Czech Tech. Univ. in Prague, Czech Republic ; Kulich, M. ; Preucil, L.

The work introduces design and comparison of different-brand methods for position localization of indoor mobile robots. Both the methods derive the robot relative position from a structure of the working environment based on measurements gathered by a TOF-based laser ranging system. The first presented method applies statistical description of the scene while the other one relies on a feature-based matching approach. Both the approaches provide method-specific behavior, which has been recognized in experiments with real data. The obtained results are compared and further improvements of the localization robustness via their combination are discussed

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Intelligent Transportation Systems, 2001. Proceedings. 2001 IEEE

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