Kuroda Yoji
   Department   Undergraduate School  , School of Science and Technology
   Position   Professor
Date 2014/05/31
Presentation Theme Mobile Robot Localization System in Frequent GPS-denied Situations
Conference 2014 IEEE International Conference on Robotics & Automation (ICRA)
Promoters IEEE
Conference Type International
Presentation Type Speech (General)
Contribution Type Collaborative
Venue Hong Kong, China
Publisher and common publisher Takato Saito, Kentaro Kiuchi and Yoji Kuroda
Details In this paper, we propose a mobile robot localiza- tion system in frequent GPS-denied situations. We utilize multi- ple observations that are obtained from sequential appearance- based place recognition and GPS. Using GPS observations has still some challenging problems such as multipath or signal lost under environments where there are tall buildings nearby. The appearance-based place recognition that is combined with positional information has capability to overcome the issue. Nevertheless, GPS observations which are obtained in the situ- ation sometimes have better quality (e.g. Precision or accuracy) than positional information from the place recognition because those coordinates always have some errors. We apply both of observations to a mobile robot localization for the sake of achieving robust localization. Moreover sequential appearance- based place recognition makes it possible to recognize their own position even when we navigate a robot at night. Our system uses not only multiple observations but also dead reckoning with the gyrodometry model. Our experiments are performed over aggregate 5300 m trajectory approximately that contains three times trials through a 1600 m outdoor route in different seasons and at different times, and once trail through a 500 m short-range route to verify its validity.
URL for researchmap http://ieeexplore.ieee.org/document/6907431/