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Indexed by:期刊论文

Date of Publication:2012-05-01

Journal:INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION

Included Journals:SCIE、EI、Scopus

Volume:27

Issue:2

Page Number:198-205

ISSN No.:0826-8185

Key Words:Localization; hybrid metric-topological map; omni-directional vision; laser scan matching

Abstract:This paper presents a hybrid sensing system for mobile robot localization in large-scale indoor environments. The system operates in two sensing modes, either omni-directional vision or laser scanning, according to the environmental characteristics. For a structured corridor environment, the vision information is adopted to track the robot pose with a predefined hybrid metric-topological map. For a semi-structured office room, the laser scanning mode is chosen to generate a sequence of relative pose transformations based on a scan matching algorithm. Kalman filters are deployed to smooth multiple scan matching results. The proposed hybrid sensing system can perform localization tasks on-the-fly, with the features of efficient map modelling and computational simplicity. Experimental results are provided to demonstrate the performance and effectiveness of the proposed techniques.