An Improved Observation Model for Monte-Carlo Localization Integrated with Reliable Reflector Prediction
| العنوان: | An Improved Observation Model for Monte-Carlo Localization Integrated with Reliable Reflector Prediction |
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| المؤلفون: | Jie Meng, Yu Huang, Yuanlong Xie, Liquan Jiang, Gen Li, Xiaolong Zhang |
| المصدر: | AIM Web of Science |
| بيانات النشر: | IEEE, 2019. |
| سنة النشر: | 2019 |
| مصطلحات موضوعية: | 0301 basic medicine, Landmark, business.industry, Computer science, 030106 microbiology, Monte Carlo method, Monte Carlo localization, Bayesian network, Mobile robot, 03 medical and health sciences, 030104 developmental biology, Robustness (computer science), Robot, Computer vision, Artificial intelligence, business, Hidden Markov model |
| الوصف: | Robust and reliable localization is a fundamental prerequisite for many applications of mobile robots which can be achieved in many ways. Among them, landmark-based localization is a proven and practical technique. However, incorrect detection of landmarks can seriously affect the positioning result. This paper presents an improved observation model for Monte-Carlo localization (MCL), which improves the robustness of localization by reliable reflector prediction in the ambiguous environments caused by incorrect reflectors detection. This improved observation model is based on a Bayesian network into which the reflective intensity of LIDAR and the labeled grid-map are considered. And then, a reflector probability field and a learned intensity observation model are proposed to accomplish fast probabilistic inference of robot pose based on our improved observation mode. Also, a variant MCL, called reflector prediction-based Monte-Carlo localization (RP-MCL) is realized based on our observation model. The effectiveness of the RP-MCL is verified in real-world scenarios using our self-developed robot and the results demonstrate that our observation model improves the localization performance in the ambiguous environments. |
| الوصول الحر: | https://explore.openaire.eu/search/publication?articleId=doi_dedup___::70c5346ec5d5629142fad2b7f11e1adeTest https://doi.org/10.1109/aim.2019.8868652Test |
| حقوق: | CLOSED |
| رقم الانضمام: | edsair.doi.dedup.....70c5346ec5d5629142fad2b7f11e1ade |
| قاعدة البيانات: | OpenAIRE |
| الوصف غير متاح. |