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论文类型：期刊论文

发表时间：2021-01-10

发表刊物：JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS

卷号：100

期号：3-4

页面范围：765-775

ISSN号：0921-0296

关键字：Relocalization; 2D LiDAR sensor; CNN; Robot pose; Kidnapped robot problem

摘要：We present a deep-learning-based strategy that only uses a 2D LiDAR sensor to solve the kidnapped robot problem in similar indoor environments. First, we converted a set of 2D laser data into an RGB-image and an occupancy grid map and stacked them into a multi-channel image. Then, a neural network structure with five convolutional layers and four fully connected layers was designed to regress the 3-DOF robot pose. Finally, the network was trained using multi-channel images as input. We also improved the network structure to identify the scene where the robot is localized. Extensive experiments have been conducted in practice with a real mobile robot, verifying the effectiveness of the proposed strategy. Our network can obtain approximately 2m and 5(circle)accuracy indoors, and the scene classification accuracy of our network reaches up to 98%.