Author:
Muramatsu Satoshi,Tomizawa Tetsuo,Kudoh Shunsuke,Suehiro Takashi, , ,
Abstract
In order to realize the work of goods conveyance etc. by robot, localization of robot position is fundamental technology component. Map matching methods is one of the localization technique. In map matching method, usually, to create the map data for localization, we have to operate the robot and measure the environment (teaching run). This operation requires a lot of time and work. In recent years, due to improved Internet services, aerial image data is easily obtained from Google Maps etc. Therefore, we utilize the aerial images as a map data to for mobile robots localization and navigation without teaching run. In this paper, we proposed the robot localization and navigation technique using aerial images. We verified the proposed technique by the localization and autonomous running experiment.
Publisher
Fuji Technology Press Ltd.
Subject
Electrical and Electronic Engineering,General Computer Science
Reference19 articles.
1. S. Cooper and H. Durrant-Whyte, “A Kalman filter model for GPS navigation of land vehicles,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 157-163, 1994.
2. M. Betke and L. Gurvits, “Mobile Robot Localization Using Landmark,” IEEE Trans. on Robotics and Automation, Vol.13, No.2, April 1997.
3. M. Tomono, “A Scan Matching Method using Euclidean Invariant Signature for Global Localization and Map Building,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 866-871, 2004.
4. H. Koyasu, J. Miura, and Y. Shirai, “Integrating Multiple Scan Matching Results for Ego-Motion Estimation with Uncertainty,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3104-3109, 2004.
5. Y. Negishi, J. Miura, and Y. Shirai, “Adaptive Robot Speed Control by Considering Map and Localization Uncertainty,” Proc. of the 8th Int. Conf. on Intelligent Autonomous Systems, pp. 873-880, 2004.
Cited by
5 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献