Robot localization under perceptual aliasing conditions based on laser reflectivity using particle filter

Dongxiang Zhang, Ryo Kurazume, Yumi Iwashita, Tsutomu Hasegawa

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

2 Citations (Scopus)

Abstract

Global localization, which determines an accurate global position without prior knowledge, is a fundamental requirement for a mobile robot. Map-based global localization gives a precise position by comparing a provided geometric map and current sensory data. Although 3D range data is preferable for 6D global localization in terms of accuracy and reliability, comparison with large 3D data is quite time-consuming. On the other hand, appearance-based global localization, which determines the global position by comparing a captured image with recorded ones, is simple and suitable for real-time processing. However, this technique does not work in the dark or in an environment in which the lighting conditions change remarkably. We have proposed a two-step strategy so far, which combines map-based global localization and appearance-based global localization. Instead of camera images, which are used for appearance-based global localization, we use reflectance images, which are captured by a laser range finder as a byproduct of range sensing. However, since this method relies on the similarity between newly-captured and stored reflectance images, the performance is deteriorated in a scene with high perceptual aliasing containing few or similar features such as a corridor and a mine. To deal with this problem, in this paper, we propose a new global localization technique which combines the proposed two-step strategy and the particle filter. The effectiveness of the proposed technique is demonstrated through experiments in real environments.

Original languageEnglish
Title of host publication2011 IEEE/SICE International Symposium on System Integration, SII 2011
Pages90-95
Number of pages6
DOIs
Publication statusPublished - Dec 1 2011
Event2011 IEEE/SICE International Symposium on System Integration, SII 2011 - Kyoto, Japan
Duration: Dec 20 2011Dec 22 2011

Publication series

Name2011 IEEE/SICE International Symposium on System Integration, SII 2011

Other

Other2011 IEEE/SICE International Symposium on System Integration, SII 2011
CountryJapan
CityKyoto
Period12/20/1112/22/11

    Fingerprint

All Science Journal Classification (ASJC) codes

  • Computer Networks and Communications
  • Control and Systems Engineering

Cite this

Zhang, D., Kurazume, R., Iwashita, Y., & Hasegawa, T. (2011). Robot localization under perceptual aliasing conditions based on laser reflectivity using particle filter. In 2011 IEEE/SICE International Symposium on System Integration, SII 2011 (pp. 90-95). [6147425] (2011 IEEE/SICE International Symposium on System Integration, SII 2011). https://doi.org/10.1109/SII.2011.6147425