Scalable Robot Localization Using Incremental Map-Matching Techniques

• UEDA Takeshi

  Kyushu university

• TANAKA Kanji

  university of Fukui

抄録

Map-matching is an effective approach for robot localization using large-size landmark maps. Existing map-matching techniques typically address batch localization applications where the objective maps are given prior to the map-matching task. In contrast to the existing techniques, this paper addresses real-time localization applications where the maps can be incrementally updated even during the map-matching task. We present a solution that combines an incremental RANSAC map-matching with an ANN landmark database. Experiments using real data show promising results.

収録刊行物

• Journal of Computational Science and Technology

  Journal of Computational Science and Technology 4 (1), 1-10, 2010

  一般社団法人 日本機械学会

キーワード

• Mobile Robot
• Robot Localization
• Map Matching

詳細情報

• CRID: 1390001205274986880
• NII論文ID: 130000157296
• DOI: 10.1299/jcst.4.1
• ISSN: 18816894
• Web Site: http://www.jstage.jst.go.jp/article/jcst/4/1/4_1_1/_pdf
• 本文言語コード: en
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
  • KAKEN
• 抄録ライセンスフラグ: 使用不可