Long-term Ground Robot Localization Architecture for Mixed Indoor-Outdoor Scenarios
Conference: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
06/02/2014 - 06/03/2014 at München, Germany
Proceedings: ISR/Robotik 2014
Pages: 8Language: englishTyp: PDF
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Authors:
Caballero, F. (University of Seville, Spain)
Perez, J.; Merino, L. (Pablo de Olavide University, Spain)
Abstract:
This paper summarizes the validation and experimental results of an architecture for six degree-of-freedom robot localization developed in the framework of the EC funded project FROG (FP7-ICT-2011.2.1). Two main localization issues are considered; one is accuracy, required by the Augmented Reality application, and the second is robustness, in order to achieve long-term autonomy of the robot. The experiments were carried out mainly at the Lisbon Zoo (Portugal), a low GPS visibility area with more than 40,000 square meters and non-planar routes as long as 1 kilometer. The approach considers an offline SLAM and multi-sensor data fusion for map building, and a Rao-Blackwellized filter for online robot localization based on previously computed map. The approach also considers localization failures and provides a method for robot re-localization based on visual place recognition.