In mobile robotics, in order to accomplish a task, self-localization is of paramount importance. It is generally granted that robot localization evolving in an outdoor environment needs an absolute localization technique, which can be map-based. While most of map-based techniques use a static map of the environment, we propose here to handle a dynamic map, which could originate from publicly available Geographical Information Systems (GIS) in which imprecise mapped landmarks would have their own localization updated, unobservable mapped landmarks would be deleted and newly observable landmarks would be added. In this article, our contribution is to demonstrate the possibility to delete dynamically repositionable landmarks in a dynamic environment map on a real vehicle online in real-time, using a partially separated vehicle localization integrity and landmark existence probabilities, based on a Bayesian graphical network formalism.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Towards automated map updating for mobile robot localization


    Beteiligte:


    Erscheinungsdatum :

    01.06.2017


    Format / Umfang :

    887165 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Towards Automated Map Updating for Mobile Robot Localization

    Delobel, Laurent / Aufrere, Romuald / Chapuis, Roland et al. | British Library Conference Proceedings | 2017



    Mobile robot localization failure recovery

    Seifzadeh, Sepideh | BASE | 2010

    Freier Zugriff

    Monocular Localization of a Mobile Robot

    Fleury, S. / Baron, T. / Herrb, M. | British Library Conference Proceedings | 1993


    Scan Matching based Mobile Robot Localization

    최민용 | BASE

    Freier Zugriff