Appearance and map-based global localization using laser reflectivity

Dong Xiang Zhang, Ryo Kurazume, Yumi Iwashita, Tsutomu Hasegawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

Global localization is a fundamental ability to recognize the accurate global position for a mobile robot in a revisited environment. The map-based global localization gives a precise position by calculating an accurate transformation, but the comparison with large 3D data is quite time-consuming. The appearance-based global localization which determines the global position by image retrieval techniques with similar structures is real-time. However, this technique needs external illumination constraint and does not work in the dark extremely. This paper proposes a combination of the map-based global localization and the appearance-based global localization. Instead of camera images used for the appearance-based global localization, we utilize reflectance images which are taken as a byproduct of range sensing by a laser range finder. The proposed method not only detects previously visited scenes but also estimate relative poses precisely. The effectiveness of the proposed technique is demonstrated through experiments in real environments.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Pages1010-1016
Number of pages7
DOIs
Publication statusPublished - Dec 1 2011
Event2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket, Thailand
Duration: Dec 7 2011Dec 11 2011

Publication series

Name2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

Other

Other2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
CountryThailand
CityPhuket
Period12/7/1112/11/11

All Science Journal Classification (ASJC) codes

  • Computer Vision and Pattern Recognition

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  • Cite this

    Zhang, D. X., Kurazume, R., Iwashita, Y., & Hasegawa, T. (2011). Appearance and map-based global localization using laser reflectivity. In 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 (pp. 1010-1016). [6181420] (2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011). https://doi.org/10.1109/ROBIO.2011.6181420