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Real-time Localization of An UGV based on Uniform Arc Length Sampling of A 360 Degree Range Sensor  

Park, Soon-Yong (School of Computer Science and Engineering, Kyungpook National University)
Choi, Sung-In (Graduate School of Electrical Engineering and Computer Science, Kyungpook National University)
Publication Information
Journal of the Institute of Electronics Engineers of Korea CI / v.48, no.6, 2011 , pp. 114-122 More about this Journal
Abstract
We propose an automatic localization technique based on Uniform Arc Length Sampling (UALS) of 360 degree range sensor data. The proposed method samples 3D points from dense a point-cloud which is acquired by the sensor, registers the sampled points to a digital surface model(DSM) in real-time, and determines the location of an Unmanned Ground Vehicle(UGV). To reduce the sampling and registration time of a sequence of dense range data, 3D range points are sampled uniformly in terms of ground sample distance. Using the proposed method, we can reduce the number of 3D points while maintaining their uniformity over range data. We compare the registration speed and accuracy of the proposed method with a conventional sample method. Through several experiments by changing the number of sampling points, we analyze the speed and accuracy of the proposed method.
Keywords
Localization; 3D Sensor; Registration; Unmanned vehicle;
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