Using Artificial Landmarks to Reduce the Ambiguity in the Environment of a Mobile Robot
Robust and reliable localization is a fundamental prerequisite for many applications of mobile robots. Although there exist many solutions to the localization problem, structurally symmetrical or featureless environments can prevent different locations from being distinguishable given the data obtained with the robot’s sensors. Such ambiguities typically make localization approaches more likely to fail. In this paper, we investigate how artificial landmarks can be utilized to reduce the ambiguity in the environment. We present a practical approach to compute a configuration of indistinguishable landmarks that decreases the overall ambiguity and thus increases the robustness of the localization process.We evaluate our approach in different environments based on real data and in simulation. Our results demonstrate that our approach improves the localization performance of the robot and outperforms other landmark selection approaches.
Daniel Meyer-Delius Maximilian Beinhofer Alexander Kleiner Wolfram Burgard
University of Freiburg,Department of Computer Science,D-79110 Freiburg,Germany
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
5173-5178
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）