Mobile robot localization using a light-stripe sensor
This paper presents an absolute localization system for a mobile robot moving on a flat ground, in a structured environment. The method makes use of 3D images provided by a light-stripe sensor. The images represent the sections in a horizontal plane of characteristic edges of the environment, whose...
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| creator | Aldon, M.J. Le Bris, L. |
| description | This paper presents an absolute localization system for a mobile robot moving on a flat ground, in a structured environment. The method makes use of 3D images provided by a light-stripe sensor. The images represent the sections in a horizontal plane of characteristic edges of the environment, whose model is known at the very outset. The goal is to extract at least two identifiable points out of the observed laser stripe and to determine the position and the heading of the robot considering a frame fixed at the observed edge. The experimental results obtained with an indoor mobile robot show that the localization errors are of the order of some centimeters in location and one degree in heading. |
| doi_str_mv | 10.1109/IVS.1994.639515 |
| format | Conference Proceeding |
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The method makes use of 3D images provided by a light-stripe sensor. The images represent the sections in a horizontal plane of characteristic edges of the environment, whose model is known at the very outset. The goal is to extract at least two identifiable points out of the observed laser stripe and to determine the position and the heading of the robot considering a frame fixed at the observed edge. The experimental results obtained with an indoor mobile robot show that the localization errors are of the order of some centimeters in location and one degree in heading.</description><identifier>ISBN: 0780321359</identifier><identifier>ISBN: 9780780321359</identifier><identifier>DOI: 10.1109/IVS.1994.639515</identifier><language>eng</language><publisher>IEEE</publisher><subject>Cameras ; Charge-coupled image sensors ; Image sensors ; Laser modes ; Mobile robots ; Optical filters ; Optical sensors ; Robot kinematics ; Robot sensing systems ; Robot vision systems</subject><ispartof>Proceedings of the Intelligent Vehicles '94 Symposium, 1994, p.255-259</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/639515$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,780,784,789,790,2056,4048,4049,27924,54919</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/639515$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Aldon, M.J.</creatorcontrib><creatorcontrib>Le Bris, L.</creatorcontrib><title>Mobile robot localization using a light-stripe sensor</title><title>Proceedings of the Intelligent Vehicles '94 Symposium</title><addtitle>IVS</addtitle><description>This paper presents an absolute localization system for a mobile robot moving on a flat ground, in a structured environment. 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The experimental results obtained with an indoor mobile robot show that the localization errors are of the order of some centimeters in location and one degree in heading.</description><subject>Cameras</subject><subject>Charge-coupled image sensors</subject><subject>Image sensors</subject><subject>Laser modes</subject><subject>Mobile robots</subject><subject>Optical filters</subject><subject>Optical sensors</subject><subject>Robot kinematics</subject><subject>Robot sensing systems</subject><subject>Robot vision systems</subject><isbn>0780321359</isbn><isbn>9780780321359</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>1994</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNp9jj0LwjAUAB-I4FdnwSl_oDUxjTazKDo4VVxLKs_6JDYliYP-egWdveWGWw5gKngmBNfz_anMhNZ5tpRaCdWDEV8VXC6EVHoASQg3_iFXKhfFENTB1WSReVe7yKw7G0svE8m17BGobZhhlpprTEP01CEL2AbnJ9C_GBsw-XkMs-3muN6lhIhV5-lu_LP6Dsi_8Q1_bDQ9</recordid><startdate>1994</startdate><enddate>1994</enddate><creator>Aldon, M.J.</creator><creator>Le Bris, L.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>1994</creationdate><title>Mobile robot localization using a light-stripe sensor</title><author>Aldon, M.J. ; Le Bris, L.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-ieee_primary_6395153</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>1994</creationdate><topic>Cameras</topic><topic>Charge-coupled image sensors</topic><topic>Image sensors</topic><topic>Laser modes</topic><topic>Mobile robots</topic><topic>Optical filters</topic><topic>Optical sensors</topic><topic>Robot kinematics</topic><topic>Robot sensing systems</topic><topic>Robot vision systems</topic><toplevel>online_resources</toplevel><creatorcontrib>Aldon, M.J.</creatorcontrib><creatorcontrib>Le Bris, L.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Aldon, M.J.</au><au>Le Bris, L.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Mobile robot localization using a light-stripe sensor</atitle><btitle>Proceedings of the Intelligent Vehicles '94 Symposium</btitle><stitle>IVS</stitle><date>1994</date><risdate>1994</risdate><spage>255</spage><epage>259</epage><pages>255-259</pages><isbn>0780321359</isbn><isbn>9780780321359</isbn><abstract>This paper presents an absolute localization system for a mobile robot moving on a flat ground, in a structured environment. The method makes use of 3D images provided by a light-stripe sensor. The images represent the sections in a horizontal plane of characteristic edges of the environment, whose model is known at the very outset. The goal is to extract at least two identifiable points out of the observed laser stripe and to determine the position and the heading of the robot considering a frame fixed at the observed edge. The experimental results obtained with an indoor mobile robot show that the localization errors are of the order of some centimeters in location and one degree in heading.</abstract><pub>IEEE</pub><doi>10.1109/IVS.1994.639515</doi></addata></record> |
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| identifier | ISBN: 0780321359 |
| ispartof | Proceedings of the Intelligent Vehicles '94 Symposium, 1994, p.255-259 |
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| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Cameras Charge-coupled image sensors Image sensors Laser modes Mobile robots Optical filters Optical sensors Robot kinematics Robot sensing systems Robot vision systems |
| title | Mobile robot localization using a light-stripe sensor |
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