Real-time 6DoF localization with relative poses to walls of buildings

Real-time 6DoF localization with relative poses to walls of buildings

This paper presents a real-time 6DoF localization method which corrects accumulative error by estimating relative poses to building walls for mobile robots in urban areas. This method exploits a fact that most of all artificial walls are built vertically. It estimates poses by not only an inertial s...

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Bibliographic Details
Main Authors: Ryota OZAKI, Yoji KURODA
Format: Article
Language:Japanese
Published: The Japan Society of Mechanical Engineers 2019-06-01
Series:Nihon Kikai Gakkai ronbunshu
Subjects:
pose estimation
6dof localization
mobile robot
artificial environment
gauss map
extended kalman filter
Online Access:https://www.jstage.jst.go.jp/article/transjsme/85/875/85_19-00065/_pdf/-char/en

Internet

https://www.jstage.jst.go.jp/article/transjsme/85/875/85_19-00065/_pdf/-char/en

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