中国科学院深圳先进技术研究院机构知识库(SIAT OpenIR): Fast and Reliable Global Localization Using Reflector Landmarks
SIAT OpenIR  > 南沙所
Fast and Reliable Global Localization Using Reflector Landmarks
Liu C(刘超); Li G(李根)
2020
Conference Name2020 IEEE Region 10 Conference
Conference Date2020
Conference Place日本大阪
Abstractglobal localization is essential for pose initialization and pose recovery. However, for the lack of prior information, global localization is always unreliable and time consuming, especially in featureless and dynamic industry environment. To alleviate the negative influence of such environment, this paper uses reflector as landmarks. Then, several maps including labeled occupancy grid map and multi-resolution likelihood field are proposed to model the positions of landmarks as well as ordinary obstacles. Furthermore, a branch and bound method is employed to achieve fast global search based on those proposed maps. Through experiments in a real industry application, the reliability and efficiency of our proposed global localization method is verified.
Department南沙所-机器人中心
Indexed ByEI
Language英语
Document Type会议论文
Identifierhttp://ir.siat.ac.cn/handle/172644/18350
Collection南沙所
Recommended Citation
GB/T 7714
Liu C,Li G. Fast and Reliable Global Localization Using Reflector Landmarks[C],2020.
Files in This Item: Download All
File Name/Size DocType Version Access License
2020南沙-机器人中心001.pdf(990KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[刘超]'s Articles
[李根]'s Articles
Baidu academic
Similar articles in Baidu academic
[刘超]'s Articles
[李根]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[刘超]'s Articles
[李根]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 2020南沙-机器人中心001.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.