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Proceedings Paper

Robust position estimation of a mobile vehicle
Author(s): Vania Conan; Pierre Boulanger; Shadia Elgazzar
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Paper Abstract

The ability to estimate the position of a mobile vehicle is a key task for navigation over large distances in complex indoor environments such as nuclear power plants. Schematics of the plants are available, but they are incomplete, as real settings contain many objects, such as pipes, cables or furniture, that mask part of the model. The position estimation method described in this paper matches 3-D data with a simple schematic of a plant. It is basically independent of odometry information and viewpoint, robust to noisy data and spurious points and largely insensitive to occlusions. The method is based on a hypothesis/verification paradigm and its complexity is polynomial; it runs in (Omicron) (m4n4), where m represents the number of model patches and n the number of scene patches. Heuristics are presented to speed up the algorithm. Results on real 3-D data show good behavior even when the scene is very occluded.

Paper Details

Date Published: 9 November 1994
PDF: 10 pages
Proc. SPIE 2247, Sensors and Control for Automation, (9 November 1994); doi: 10.1117/12.193945
Show Author Affiliations
Vania Conan, National Research Council of Canada (Canada)
Pierre Boulanger, National Research Council of Canada (Canada)
Shadia Elgazzar, National Research Council of Canada (Canada)


Published in SPIE Proceedings Vol. 2247:
Sensors and Control for Automation
Markus Becker; R. W. Daniel; Otmar Loffeld, Editor(s)

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