DMCA
On the Position Accuracy of Mobile Robot Localization based on Particle Filters Combined with Scan Matching
Cached
Download Links
| Citations: | 7 - 5 self |
BibTeX
@MISC{Röwekämper_onthe,
author = {Jörg Röwekämper and Christoph Sprunk and Gian Diego Tipaldi and Cyrill Stachniss and Patrick Pfaff and Wolfram Burgard},
title = {On the Position Accuracy of Mobile Robot Localization based on Particle Filters Combined with Scan Matching},
year = {}
}
Share
 |
 |
 |
 |
||
OpenURL
Abstract
Abstract — Many applications in mobile robotics and especially industrial applications require that the robot has a precise estimate about its pose. In this paper, we analyze the accuracy of an integrated laser-based robot pose estimation and positioning system for mobile platforms. For our analysis, we used a highly accurate motion capture system to precisely determine the error in the robot’s pose. We are able to show that by combining standard components such as Monte-Carlo localization, KLD sampling, and scan matching, an accuracy of a few millimeters at taught-in reference locations can be achieved. We believe that this is an important analysis for developers of robotic applications in which pose accuracy matters. Fig. 1. KUKA omniRob platform (left) and the environment used for evaluation (right). I.
Keyphrases
scan matching particle filter position accuracy mobile robot localization kuka omnirob platform mobile platform accurate motion capture system abstract many application laser-based robot pose estimation mobile robotics precise estimate accuracy matter taught-in reference location monte-carlo localization industrial application kld sampling positioning system robotic application important analysis standard component robot pose
