Kuroda Yoji    Department   Undergraduate School  , School of Science and Technology    Position   Professor
Date	2013/05/06
Presentation Theme	Mobile robot localization using multiple observations based on place recognition and GPS
Conference	Robotics and Automation (ICRA), 2013 IEEE International Conference on
Promoters	IEEE
Conference Type	International
Presentation Type	Speech (General)
Contribution Type	Collaborative
Venue	Karlsruhe, Germany
Publisher and common publisher	Takato Saito, Yoji Kuroda
Details	n this paper, we propose a mobile robot localization system using multiple observations, which show the robot's global position. One of observations is GPS observation, the other is utilized an appearance based place recognition. Using GPS observations has still some challenging problems such as multipath and signal lost under the environments there is tall buildings nearby. It affects a significant error on localization. On the other hand, appearance based place recognition methods are efficient to recognize the robot's global position. It becomes possible to use a scene database with global position information. However, it could fail to function properly in natural environments like a lawn grass or trees in a park. We solve these demerits of each observations by using these multiple observations. Our system uses not only multiple observations but also dead reckoning with Gyrodometry model. As a result, the proposed localization system have achieved robust localization. To verify the validity of proposed method, our experiments using 1600m outdoor course in different seasons were conducted.
URL for researchmap	http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6630776