Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Hausdorff Distance Matching for Elevation Map-based Global Localization of an Outdoor Mobile Robot

실외 이동로봇의 고도지도 기반의 전역 위치추정을 위한 Hausdorff 거리 정합 기법

  • 지용훈 (고려대학교 메카트로닉스학과) ;
  • 송재복 (고려대학교 기계공학부) ;
  • 백주현 (LIG 넥스원(주) 연구개발본부) ;
  • 유재관 (LIG 넥스원(주) 연구개발본부)
  • Received : 2011.04.18
  • Accepted : 2011.07.20
  • Published : 2011.09.01
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Abstract

Mobile robot localization is the task of estimating the robot pose in a given environment. This research deals with outdoor localization based on an elevation map. Since outdoor environments are large and contain many complex objects, it is difficult to robustly estimate the robot pose. This paper proposes a Hausdorff distance-based map matching method. The Hausdorff distance is exploited to measure the similarity between extracted features obtained from the robot and elevation map. The experiments and simulations show that the proposed Hausdorff distance-based map matching is useful for robust outdoor localization using an elevation map. Also, it can be easily applied to other probabilistic approaches such as a Markov localization method.

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References

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