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Proceedings Paper

Mobile robot localization with sparse landmarks
Author(s): Nathaniel J. Fairfield; Bruce A. Maxwell
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Paper Abstract

This paper describes a mobile robot system designed to explore and map an indoor area such as is encountered in urban search and rescue mock-ups. The robot uses homogeneous artificial landmarks deployed during exploration for localization as it constructs a map, determining landmark distance and bearing with groundplane calculations from a single camera and using Kalman filtering techniques to perform localization. When implemented on a Magellan II mobile robot, the localization technique correctly localized the robot while exploring and mapping.

Paper Details

Date Published: 18 February 2002
PDF: 8 pages
Proc. SPIE 4573, Mobile Robots XVI, (18 February 2002); doi: 10.1117/12.457439
Show Author Affiliations
Nathaniel J. Fairfield, Bluefin Robotics (United States)
Bruce A. Maxwell, Swarthmore College (United States)

Published in SPIE Proceedings Vol. 4573:
Mobile Robots XVI
Douglas W. Gage; Howie M. Choset, Editor(s)

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