A METHOD FOR LOCALIZING A ROBOT IN A LOCALIZATION PLANE

The invention concerns a method for localizing a robot in a localization plane associated with a bi-dimentional reference with two axis x and y comprising the following steps: determining (200) by odometry an estimation of the coordinates x1 and y1 of the robot as well as an estimation of its orient...

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Bibliographische Detailangaben
Hauptverfasser:	DE LA FORTELLE, ARNAUD, WIRBEL, EMILIE
Format:	Patent
Sprache:	eng ; fre
Schlagworte:	CONTROLLING GYROSCOPIC INSTRUMENTS MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS REGULATING SURVEYING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES TESTING
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Beschreibung
Zusammenfassung:	The invention concerns a method for localizing a robot in a localization plane associated with a bi-dimentional reference with two axis x and y comprising the following steps: determining (200) by odometry an estimation of the coordinates x1 and y1 of the robot as well as an estimation of its orientation T1; determining (202) an estimation T2 of the orientation of the robot by using a virtual compass; determining (204) an estimation T3 of the orientation of the robot by correlating parts of a reference panorama with parts of a query panorama; determining (206) an estimation x4, y4 of the robot position by using an Iterative Closest Points technique; determining the standard deviations s_x1, s_x2, s_?1 s_?2, s_?3, s_x4, s_y4 of the aforementioned estimations; determining (220) probability distributions G(x1), G(y1), G(T1), G(T2), G(T3), G(x4) and G(y4) of each available estimation using said standard deviations; determining (221) three global distributions GLOB(x), GLOB(y) and GLOB(T) and determining a global estimation xg, yg of the coordinates of the robot in the localization plane as well as an global estimation Tg of its orientation by applying maximum likelihood to the global distributions.