In mobile robotics, localization plays a key role in every task assigned to a robot. This report describes the probabilistic module we developed to solve the localization problem in our autonomous driving vehicle. Our method uses a complete 6DoF approach within a 3D motion model, in order to correctly integrate the error caused by dead reckoning. Furthermore, the description of the environment is a 3D voxel representation. We base on particle filtering, in the localization process. An ad-hoc simulation environment has been developed, for testing the effectiveness of the motion model. Finally, we performed some field experiments, to demonstrate that our approach consistently locates the 6DoF position of the vehicle along the driven path on the test site
Ballardini, A., Furlan, A., Galbiati, A., Matteucci, M., Sacchi, F., Sorrenti, D. (2012). 6DoF Monte Carlo Localization in a 3D world with Laser Range Finders. Dipartimento di Informatica, Sistemistica e Comunicazione, Università degli Studi di Milano - Bicocca.
6DoF Monte Carlo Localization in a 3D world with Laser Range Finders
BALLARDINI, AUGUSTO LUIS
;FURLAN, AXELSecondo
;SORRENTI, DOMENICO GIORGIOUltimo
2012
Abstract
In mobile robotics, localization plays a key role in every task assigned to a robot. This report describes the probabilistic module we developed to solve the localization problem in our autonomous driving vehicle. Our method uses a complete 6DoF approach within a 3D motion model, in order to correctly integrate the error caused by dead reckoning. Furthermore, the description of the environment is a 3D voxel representation. We base on particle filtering, in the localization process. An ad-hoc simulation environment has been developed, for testing the effectiveness of the motion model. Finally, we performed some field experiments, to demonstrate that our approach consistently locates the 6DoF position of the vehicle along the driven path on the test siteFile | Dimensione | Formato | |
---|---|---|---|
REPORT.pdf
accesso aperto
Descrizione: Report di ricerca
Dimensione
4.8 MB
Formato
Adobe PDF
|
4.8 MB | Adobe PDF | Visualizza/Apri |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.