The interactive museum tour-guide robot
AAAI '98/IAAI '98 Proceedings of the fifteenth national/tenth conference on Artificial intelligence/Innovative applications of artificial intelligence
Active mobile robot localization
IJCAI'97 Proceedings of the Fifteenth international joint conference on Artifical intelligence - Volume 2
Omnidirectional Vision for Appearance-Based Robot Localization
Revised Papers from the International Workshop on Sensor Based Intelligent Robots
Collaborative Multi-robot Localization
KI '99 Proceedings of the 23rd Annual German Conference on Artificial Intelligence: Advances in Artificial Intelligence
Using an Image Retrieval System for Vision-Based Mobile Robot Localization
CIVR '02 Proceedings of the International Conference on Image and Video Retrieval
Utilizing reflection properties of surfaces to improve mobile robot localization
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A Multisensor Architecture Providing Location-based Services for Smartphones
Mobile Networks and Applications
| Hi-index | 0.00 |
Localization is one of the most important capabilities for autonomous mobile agents. Markov Localization (ML), applied to dense range images, has proven to be an effective technique. But its computational and storage requirements put a large burden on robot systems, and make it difficult to update the map dynamically. In this paper we introduce a new technique, based on correlation of a sensor scan with the map, that is several orders of magnitude more efficient than ML. CBML (correlation-based ML) permits video-rate localization using dense range scans, dynamic map updates, and a more precise error model than ML. In this paper we present the basic method of CBML, and validate its efficiency and correctness in a series of experiments on an implemented mobile robot base.