TY - GEN
T1 - Augmented EKF localization for mobile robots in urban environments
AU - Christiand,
AU - Lee, Yu Cheol
AU - Yu, Wonpil
AU - Cho, Jaeil
PY - 2010
Y1 - 2010
N2 - We propose the augmented EKF Localization for mobile robots in urban environments. Odometer, GPS (Global Positioning System), gyroscope, and camera are used as the localization sensors. The proposed method is aimed for the mobile robot working in urban environments where the traffic lanes exist. Through a camera, the robot measures the lateral offset from the robot position to the centerline of road. Furthermore, the lateral offset is included probabilistically as robot's augmented state to strengthen the robot position estimate. The simulation shows that our proposed method has superior performance compared to the other EKF versions.
AB - We propose the augmented EKF Localization for mobile robots in urban environments. Odometer, GPS (Global Positioning System), gyroscope, and camera are used as the localization sensors. The proposed method is aimed for the mobile robot working in urban environments where the traffic lanes exist. Through a camera, the robot measures the lateral offset from the robot position to the centerline of road. Furthermore, the lateral offset is included probabilistically as robot's augmented state to strengthen the robot position estimate. The simulation shows that our proposed method has superior performance compared to the other EKF versions.
UR - http://www.scopus.com/inward/record.url?scp=79952903655&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2010.5723460
DO - 10.1109/ROBIO.2010.5723460
M3 - Conference contribution
AN - SCOPUS:79952903655
SN - 9781424493173
T3 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
SP - 986
EP - 991
BT - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
T2 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Y2 - 14 December 2010 through 18 December 2010
ER -