An automatic calibration method for a multisensor system: application to a mobile robot localization system

2002 ◽  
Author(s):  
H.-J. Von der Hardt ◽  
R. Husson ◽  
D. Wolf
Keyword(s):  
Mobile Robot ◽  
System Application ◽  
Calibration Method ◽  
Automatic Calibration ◽  
Robot Localization ◽  
Localization System ◽  
Multisensor System ◽  
Mobile Robot Localization

scholarly journals Map representation using hidden markov models for mobile robot localization

2018 ◽  
Vol 161 ◽  
pp. 03011
Author(s):  
Jesus Savage ◽  
Oscar Fuentes ◽  
Luis Contreras ◽  
Marco Negrete
Keyword(s):  
Mobile Robot ◽  
Markov Model ◽  
Hidden Markov Model ◽  
Hidden Markov Models ◽  
Viterbi Algorithm ◽  
Markov Models ◽  
Hidden Markov ◽  
Robot Localization ◽  
Localization System ◽  
Mobile Robot Localization

This paper describes a map representation and localization system for a mobile robot based on Hidden Markov Models. These models are used not only to find a region where a mobile robot is, but also they find the orientation that it has. It is shown that an estimation of the region where the robot is located can be found using the Viterbi algorithm with quantized laser readings, i.e. symbol observations, of a Hidden Markov Model.

scholarly journals Application of the Motion Capture System to Estimate the Accuracy of a Wheeled Mobile Robot Localization

Energies ◽  
2020 ◽  
Vol 13 (23) ◽  
pp. 6437
Author(s):  
Sebastian Dudzik
Keyword(s):  
Mobile Robot ◽  
Motion Capture ◽  
Hausdorff Distance ◽  
Path Following ◽  
Calibration Method ◽  
Wheeled Mobile Robot ◽  
Robot Localization ◽  
Motion Capture System ◽  
Optical Motion ◽  
Mobile Robot Localization

The paper presents research on methods of a wheeled mobile robot localization using an optical motion capture system. The results of localization based on the model of forward kinematics and odometric measurements were compared. A pure pursuit controller was used to control the robot’s behaviour in the path following tasks. The paper describes a motion capture system based on infrared cameras, including the calibration method. In addition, a method for determining the accuracy of robot location using the motion capture system, based on the Hausdorff distance, was proposed. As a result of the research it was found that the Hausdorff distance is very useful in determining the accuracy of localization of wheeled robots, especially those described by differential drive kinematics.

scholarly journals Robust mobile robot localization based on a security laser: an industry case study

2016 ◽  
Vol 43 (6) ◽  
pp. 596-606 ◽  
Author(s):  
Heber Sobreira ◽  
A. Paulo Moreira ◽  
Paulo Costa ◽  
José Lima
Keyword(s):  
Mobile Robot ◽  
Failure Detection ◽  
Obstacle Detection ◽  
Robot Localization ◽  
Outlier Rejection ◽  
Global Localization ◽  
Content Type ◽  
Localization System ◽  
Mobile Robot Localization ◽  
Industrial Environments

Purpose This paper aims to address a mobile robot localization system that avoids using a dedicated laser scanner, making it possible to reduce implementation costs and the robot’s size. The system has enough precision and robustness to meet the requirements of industrial environments. Design/methodology/approach Using an algorithm for artificial beacon detection combined with a Kalman Filter and an outlier rejection method, it was possible to enhance the precision and robustness of the overall localization system. Findings Usually, industrial automatic guide vehicles feature two kinds of lasers: one for navigation placed on top of the robot and another for obstacle detection (security lasers). Recently, security lasers extended their output data with obstacle distance (contours) and reflectivity. These new features made it possible to develop a novel localization system based on a security laser. Research limitations/implications Once the proposed methodology is completely validated, in the future, a scheme for global localization and failure detection should be addressed. Practical implications This paper presents a comparison between the presented approach and a commercial localization system for industry. The proposed algorithms were tested in an industrial application under realistic working conditions. Social implications The presented methodology represents a gain in the effective cost of the mobile robot platform, as it discards the need for a dedicated laser for localization purposes. Originality/value This paper presents a novel approach that benefits from the presence of a security laser on mobile robots (mandatory sensor when considering industrial applications), using it simultaneously with other sensors, not only to guarantee safety conditions during operation but also to locate the robot in the environment. This paper is also valuable because of the comparison made with a commercialized system, as well as the tests conducted in real industrial environments, which prove that the approach presented is suitable for working under these demanding conditions.

Mobile robot localization system using multiple ceiling mounted cameras

2015 ◽  
Author(s):  
R. Visvanathan ◽  
S. M. Mamduh ◽  
K. Kamarudin ◽  
A. S. A. Yeon ◽  
A. Zakaria ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Robot Localization ◽  
Localization System ◽  
Mobile Robot Localization

3-D Scan Matching for Mobile Robot Localization over Rough Terrain

2019 ◽  
Vol 139 (9) ◽  
pp. 1041-1050
Author(s):  
Hiroyuki Nakagomi ◽  
Yoshihiro Fuse ◽  
Hidehiko Hosaka ◽  
Hironaga Miyamoto ◽  
Takashi Nakamura ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Rough Terrain ◽  
Robot Localization ◽  
Scan Matching ◽  
Mobile Robot Localization
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