Robust localization system for an autonomous mower

2015 ◽  
Author(s):  
Huiwen Guo ◽  
Xinyu Wu ◽  
Ruiqing Fu ◽  
Wei Feng
Keyword(s):  
Localization System ◽  
Robust Localization

scholarly journals A Robust Localization System for Inspection Robots in Sewer Networks

Sensors ◽  
2019 ◽  
Vol 19 (22) ◽  
pp. 4946 ◽  
Author(s):  
David Alejo ◽  
Fernando Caballero ◽  
Luis Merino
Keyword(s):  
Cross Sections ◽  
Prior Information ◽  
Real Data ◽  
Localization System ◽  
Sewer Network ◽  
Localization And Mapping ◽  
Localization Errors ◽  
Robust Localization ◽  
Monte Carlo Localization ◽  
Inspection Robots

Sewers represent a very important infrastructure of cities whose state should be monitored periodically. However, the length of such infrastructure prevents sensor networks from being applicable. In this paper, we present a mobile platform (SIAR) designed to inspect the sewer network. It is capable of sensing gas concentrations and detecting failures in the network such as cracks and holes in the floor and walls or zones were the water is not flowing. These alarms should be precisely geo-localized to allow the operators performing the required correcting measures. To this end, this paper presents a robust localization system for global pose estimation on sewers. It makes use of prior information of the sewer network, including its topology, the different cross sections traversed and the position of some elements such as manholes. The system is based on a Monte Carlo Localization system that fuses wheel and RGB-D odometry for the prediction stage. The update step takes into account the sewer network topology for discarding wrong hypotheses. Additionally, the localization is further refined with novel updating steps proposed in this paper which are activated whenever a discrete element in the sewer network is detected or the relative orientation of the robot over the sewer gallery could be estimated. Each part of the system has been validated with real data obtained from the sewers of Barcelona. The whole system is able to obtain median localization errors in the order of one meter in all cases. Finally, the paper also includes comparisons with state-of-the-art Simultaneous Localization and Mapping (SLAM) systems that demonstrate the convenience of the approach.

scholarly journals Robust Localization System Fusing Vision and Lidar Under Severe Occlusion

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 62495-62504
Author(s):  
Yongliang Shi ◽  
Weimin Zhang ◽  
Fangxing Li ◽  
Qiang Huang
Keyword(s):  
Localization System ◽  
Robust Localization

High-precision and robust localization system for mobile robots in complex and large-scale indoor scenes

2021 ◽  
Vol 18 (5) ◽  
pp. 172988142110476
Author(s):  
Jibo Wang ◽  
Chengpeng Li ◽  
Bangyu Li ◽  
Chenglin Pang ◽  
Zheng Fang
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
High Precision ◽  
Autonomous Navigation ◽  
Target Area ◽  
Global Localization ◽  
Localization System ◽  
Current Localization ◽  
Robust Localization ◽  
Indoor Scenes

High-precision and robust localization is the key issue for long-term and autonomous navigation of mobile robots in industrial scenes. In this article, we propose a high-precision and robust localization system based on laser and artificial landmarks. The proposed localization system is mainly composed of three modules, namely scoring mechanism-based global localization module, laser and artificial landmark-based localization module, and relocalization trigger module. Global localization module processes the global map to obtain the map pyramid, thus improve the global localization speed and accuracy when robots are powered on or kidnapped. Laser and artificial landmark-based localization module is employed to achieve robust localization in highly dynamic scenes and high-precision localization in target areas. The relocalization trigger module is used to monitor the current localization quality in real time by matching the current laser scan with the global map and feeds it back to the global localization module to improve the robustness of the system. Experimental results show that our method can achieve robust robot localization and real-time detection of the current localization quality in indoor scenes and industrial environment. In the target area, the position error is less than 0.004 m and the angle error is less than 0.01 rad.

Design of a Bell-Shaped Ultra Wideband Antenna for Indoor Localization System

2015 ◽  
Vol 5 (6) ◽  
pp. 323 ◽  
Author(s):  
Nadia Ghariani ◽  
Mohamed Salah Karoui ◽  
Mondher Chaoui ◽  
Mongi Lahiani ◽  
Hamadi Ghariani
Keyword(s):  
Indoor Localization ◽  
Ultra Wideband ◽  
Localization System ◽  
Wideband Antenna
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