18 February 2002 Mobile robot localization with sparse landmarks
Author Affiliations +
Proceedings Volume 4573, Mobile Robots XVI; (2002) https://doi.org/10.1117/12.457439
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States
This paper describes a mobile robot system designed to explore and map an indoor area such as is encountered in urban search and rescue mock-ups. The robot uses homogeneous artificial landmarks deployed during exploration for localization as it constructs a map, determining landmark distance and bearing with groundplane calculations from a single camera and using Kalman filtering techniques to perform localization. When implemented on a Magellan II mobile robot, the localization technique correctly localized the robot while exploring and mapping.
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Nathaniel J. Fairfield, Bruce A. Maxwell, "Mobile robot localization with sparse landmarks", Proc. SPIE 4573, Mobile Robots XVI, (18 February 2002); doi: 10.1117/12.457439; https://doi.org/10.1117/12.457439

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