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Proceedings Paper

Comparison of indoor robot localization techniques in the absence of GPS
Author(s): Regis Vincent; Benson Limketkai; Michael Eriksen
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Paper Abstract

When available, GPS is the quick and easy solution to localizing a robot. However, because it is often not available (e.g. indoors) or not reliable enough, other techniques, using laser range finders or cameras have been developed that offer better performance. For 2D localization,lLaser range finders are far more precise and easier to work with than cameras. We report here on the performance of several implementations of the main class of localization algorithms that use a laser, Simultaneous Localization And Mapping (SLAM) on the RAWSEEDS benchmark. SRI International's SLAM system has an RMS error in XY of 0.32m (0.22%). This is the best reported performance on this benchmark.

Paper Details

Date Published: 29 April 2010
PDF: 5 pages
Proc. SPIE 7664, Detection and Sensing of Mines, Explosive Objects, and Obscured Targets XV, 76641Z (29 April 2010); doi: 10.1117/12.849593
Show Author Affiliations
Regis Vincent, SRI International (United States)
Benson Limketkai, SRI International (United States)
Michael Eriksen, SRI International (United States)

Published in SPIE Proceedings Vol. 7664:
Detection and Sensing of Mines, Explosive Objects, and Obscured Targets XV
Russell S. Harmon; John H. Holloway; J. Thomas Broach, Editor(s)

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