On the Position Accuracy of Mobile Robot Localization based on Particle Filters Combined with Scan Matching

Abstract
Many applications in mobile robotics and especially industrial applications require that the robot has a precise estimate about its pose. In this paper, we analyze the accuracy of an integrated laser-based robot pose estimation and positioning system for mobile platforms. For our analysis, we used a highly accurate motion capture system to precisely determine the error in the robot's pose. We are able to show that by combining standard components such as Monte-Carlo localization, KLD sampling, and scan matching, an accuracy of a few millimeters at taught-in reference locations can be achieved. We believe that this is an important analysis for developers of robotic applications in which pose accuracy matters.

@INPROCEEDINGS{roewekaemper12iros,
  author = {Joerg Roewekaemper and Christoph Sprunk and Gian Diego Tipaldi and Cyrill Stachniss and Patrick Pfaff and Wolfram Burgard},
  title = {On the Position Accuracy of Mobile Robot Localization based on Particle Filters Combined with Scan Matching},
  booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {3158--3164},
  year = 2012,
  month = oct,
  address = {Vilamoura, Portugal},
  doi = {10.1109/IROS.2012.6385988}
}
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