TY - GEN
T1 - Robust localization method based on free-space observation model using 3D-map
AU - Takeuchi, Eijiro
AU - Ohno, Kazunori
AU - Tadokoro, Satoshi
PY - 2010/12/1
Y1 - 2010/12/1
N2 - This paper proposes robust localization method using a free-space observation model with a 3D map for a particle filter. The free-space observation model judges whether the free space of a laser beam of a sensor is appropriate. The observation model realizes highly robust localization in outdoor environments with many unknown obstacles. This paper describes the free-space observation model and the increase in the calculation speed of the observation model. The proposed localization method achieves 1-km localization in outdoor environments with many unknown objects.
AB - This paper proposes robust localization method using a free-space observation model with a 3D map for a particle filter. The free-space observation model judges whether the free space of a laser beam of a sensor is appropriate. The observation model realizes highly robust localization in outdoor environments with many unknown obstacles. This paper describes the free-space observation model and the increase in the calculation speed of the observation model. The proposed localization method achieves 1-km localization in outdoor environments with many unknown objects.
UR - http://www.scopus.com/inward/record.url?scp=79952943105&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79952943105&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2010.5723458
DO - 10.1109/ROBIO.2010.5723458
M3 - Conference contribution
AN - SCOPUS:79952943105
SN - 9781424493173
T3 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
SP - 973
EP - 979
BT - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
T2 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Y2 - 14 December 2010 through 18 December 2010
ER -