A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Position estimation techniques for an autonomous mobile robot: a review
Handbook of pattern recognition & computer vision
Iterative point matching for registration of free-form curves and surfaces
International Journal of Computer Vision
Efficiently Locating Objects Using the Hausdorff Distance
International Journal of Computer Vision
CONDENSATION—Conditional Density Propagation forVisual Tracking
International Journal of Computer Vision
Bayesian Landmark Learning for Mobile Robot Localization
Machine Learning
Computational principles of mobile robotics
Computational principles of mobile robotics
State of the art in shape matching
Principles of visual information retrieval
Vision for Mobile Robot Navigation: A Survey
IEEE Transactions on Pattern Analysis and Machine Intelligence
Mobile Robot Localization and Map Building: A Multisensor Fusion Approach
Mobile Robot Localization and Map Building: A Multisensor Fusion Approach
Directed Sonar Sensing for Mobile Robot Navigation
Directed Sonar Sensing for Mobile Robot Navigation
Autonomous Mobile Robots
Globally Consistent Range Scan Alignment for Environment Mapping
Autonomous Robots
Comparing Images Using the Hausdorff Distance
IEEE Transactions on Pattern Analysis and Machine Intelligence
Contour Tracking by Stochastic Propagation of Conditional Density
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume I - Volume I
Markov Localization using Correlation
IJCAI '99 Proceedings of the Sixteenth International Joint Conference on Artificial Intelligence
Line Extraction in 2D Range Images for Mobile Robotics
Journal of Intelligent and Robotic Systems
Probabilistic robot navigation in partially observable environments
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
Estimating the absolute position of a mobile robot using position probability grids
AAAI'96 Proceedings of the thirteenth national conference on Artificial intelligence - Volume 2
Map-based navigation in mobile robots
Cognitive Systems Research
Two-dimensional object alignment based on the robust oriented Hausdorff similarity measure
IEEE Transactions on Image Processing
Indoor Mobile Robotics at Grima, PUC
Journal of Intelligent and Robotic Systems
Cascaded Evolutionary Estimator for Robot Localization
International Journal of Applied Evolutionary Computation
Kullback-Leibler divergence-based global localization for mobile robots
Robotics and Autonomous Systems
Robotics and Autonomous Systems
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This paper presents a novel method for localization of mobile robots in structured environments. The estimation of the position and orientation of the robot relies on the minimisation of the partial Hausdorff distance between ladar range measurements and a floor plan image of the building. The approach is employed in combination with an extended Kalman filter to obtain accurate estimates of the robot's position, heading and velocity. Good estimates of these variables were obtained during tests performed using a differential drive robot, thus demonstrating that the approach provides an accurate, reliable and computationally feasible alternative for indoor robot localization and autonomous navigation.