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Mobile Robot Self-Localization by Iconic Matching of Range Maps
Clark F. Olson In Proceedings of the 8th International Conference on Advanced Robotics, pages 447-452, 1997. Download (471 K) This paper examines techniques for a mobile robot to perform self-localization in natural terrain using stereo vision. The range map computed from a stereo image pair is first processed to generate a three-dimensional occupancy map of the terrain. This occupancy map is then compared to a similar map in a known frame of reference. The optimal relative position between the maps with respect to a Hausdorff measure is determined using efficient search techniques. These techniques allow the localization of a mobile robot to be performed robustly in natural terrain, even in the presence of noise, scene clutter, and missing data. |
