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论文类型：期刊论文

发表时间：2012-05-01

发表刊物：INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION

收录刊物：SCIE、EI、Scopus

卷号：27

期号：2

页面范围：198-205

ISSN号：0826-8185

关键字：Localization; hybrid metric-topological map; omni-directional vision; laser scan matching

摘要：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.