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http://dx.doi.org/10.5302/J.ICROS.2005.11.8.678

A Study on the Relative Localization Algorithm for Mobile Robots using a Structured Light Technique  

Noh Dong-Ki (LG필립스)
Kim Gon-Woo (서울대학교 전자공학부)
Lee Beom-Hee (서울대학교 전자공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.11, no.8, 2005 , pp. 678-687 More about this Journal
Abstract
This paper describes a relative localization algorithm using odometry data and consecutive local maps. The purpose of this paper is the odometry error correction using the area matching of two consecutive local maps. The local map is built up using a sensor module with dual laser beams and USB camera. The range data form the sensor module is measured using the structured lighting technique (active stereo method). The advantage in using the sensor module is to be able to get a local map at once within the camera view angle. With this advantage, we propose the AVS (Aligned View Sector) matching algorithm for. correction of the pose error (translational and rotational error). In order to evaluate the proposed algorithm, experiments are performed in real environment.
Keywords
structured light; relative localization; laser; mobile robot;
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