Accession Number:

AD1021293

Title:

Localization Methods for a Mobile Robot in Urban Environments

Descriptive Note:

OSTP Journal Article

Corporate Author:

COLUMBIA UNIV NEW YORK NEW YORK United States

Personal Author(s):

Report Date:

2004-10-04

Pagination or Media Count:

14.0

Abstract:

This paper addresses the problems of building a functional mobile robot for urban site navigation and modeling with focus on keeping track of the robot location. We have developed a localization system that employs two methods. The first method uses odometry, a compass and tilt sensor, and a global positioning sensor. An extended Kalman filter integrates the sensor data and keeps track of the uncertainty associated with it. The second method is based on camera pose estimation. It is used when the uncertainty from the first method becomes very large. The pose estimation is done by matching linear features in the image with a simple and compact environmental model. We have demonstrated the functionality of the robot and the localization methods with real-world experiments.

Subject Categories:

  • Cybernetics
  • Navigation and Guidance

Distribution Statement:

APPROVED FOR PUBLIC RELEASE