Robust Local Localization of a Mobile Robot Using a 2-D Laser Range Finder

Authors:
Leonardo Romero Munoz;J. Jesus Arellano Pimentel
Affiliations:
Universidad Michoacana de San Nicolas de Hidalgo, Morelia Michoacan, Mexico;Universidad Michoacana de San Nicolas de Hidalgo, Morelia Michoacan, Mexico
Venue:
ENC '05 Proceedings of the Sixth Mexican International Conference on Computer Science
Year:
2005

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Abstract

This paper describes a robust method for local selflocalization using point-to-point and point-to-line matching with a Lorentzian estimator. A 2-D laser telemeter is used to obtain distance measurements around the mobile robot within a range. The goal is to find the rigid transformation (displacement and rotation) that match two consecutive laser scans despite noisy measurements (outliers). In order to obtain the transformation parameters the Newton-Levenberg-Marquardt optimization method is used. Experimental results compare this approach with a correlation method and a point-to-point correspondence based on least squares. The proposed method shows better results, particularly when there is noisy data.