Zhuang, Yan and Wang, Ke and Wang, Wei and Hu, Huosheng (2012) 'A HYBRID SENSING APPROACH TO MOBILE ROBOT LOCALIZATION IN COMPLEX INDOOR ENVIRONMENTS.' International Journal of Robotics and Automation, 27 (2). pp. 198-205. ISSN 1925-7090

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Abstract

This paper presents a hybrid sensing system for mobile robot localization in large- cale indoor environments. The system operates in two sensing modes, either omni-directional vision or laser scanning, according to the environmental characteristics. For a structured corridor environment, the vision information is adopted to track the robot pose with a predefined hybrid metric-topological map. For asemi-structured office room, the laser scanning mode is chosen to generate a sequence of relative pose transformations based on a scan matching algorithm. Kalman filters are deployed to smooth multiple scan matching results. The proposed hybrid sensing system can perform localization tasks on-the-fly, with the features of efficient map modelling and computational simplicity. Experimental results are provided to demonstrate the performance and effectiveness of the proposed techniques.

Item Type:	Article
Uncontrolled Keywords:	Localization; hybrid metric-topological map; omni-directional vision; laser scan matching
Subjects:	Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions:	Faculty of Science and Health Faculty of Science and Health > Computer Science and Electronic Engineering, School of
SWORD Depositor:	Elements
Depositing User:	Elements
Date Deposited:	10 Sep 2014 09:56
Last Modified:	13 Jan 2022 22:01
URI:	http://repository.essex.ac.uk/id/eprint/9193

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