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Robot localization using landmarks

  • Avner Friedman
Chapter
Part of the The IMA Volumes in Mathematics and its Applications book series (IMA, volume 67)

Abstract

Autonomous navigating vehicles in systems like IVHS (Intelligent Vehicle Highway System) and ITS (Intelligent Transportation System) require efficient algorithm that estimates the position of the vehicle with respect to a map of the environment. The vehicle’s sensor identifies landmarks in the environment and measures the angles subtended by the landmarks. It uses this information to estimate the position of the vehicle. On February 4, 1994 Leonid Gurvits from Siemens Corporate Research has described joint work with M. Betke [1] which provides a fast algorithm for the 2D case. This work was actually motivated by a setup of a mobile robot built at the Learning System Department of Siemens Corporate Research as a test bed for various machine learning approaches to robot navigation. The robot navigates through corridors of the building. It is equipped with a camera and uses objects like pictures, doors and fire extinguishers as landmarks. The camera setup is such that it provides information (i.e., measurements with error) on the angles subtended at the robot’s position by two landmarks, but not on the distances from the landmarks to the camera. An image of the landmarks is taken in advance and is stored in a data base. The first problem is to identify the landmarks seen by the camera with the landmarks in the external coordinate system (i.e., the landmarks in the data base); this is called the correspondence problem, and it is studied in [2]; see also [3].

Keywords

Mobile Robot Intelligent Transportation System Robot Navigation Position Estimator Robot Localization 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

  1. [1]
    L. Gurvits and M. Betke, Mobile robot localization using landmarks, to appear.Google Scholar
  2. [2]
    W.b. Thompson and H.L. Pick, Jr., Vision-based navigation,in Proc. DARPA Image Understanding Workshop, San Mateo, Calif., January 1992, Morgan Kaufmann, pp. 149–159.Google Scholar
  3. [3]
    K.T. Sutherland and W.B. Thompson, Inexact navigation, Proc. IEEE International Conference on Robotics and Automation, IEEE Computer Society Press, Los Alamitos, Calif., Vol. 1, May 1993, pp. 1–7.Google Scholar
  4. [4]
    P.T. Kabamba, A note on navigation accuracy, SIAM Review, 35 (1993), 481–487.MathSciNetzbMATHCrossRefGoogle Scholar

Copyright information

© Springer-Verlag New York, Inc. 1995

Authors and Affiliations

  • Avner Friedman
    • 1
  1. 1.Institute for Mathematics and its ApplicationsUniversity of MinnesotaMinneapolisUSA

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