A Hybrid Sensing Approach to Mobile Robot Localization in Complex Indoor Environments
A Hybrid Sensing Approach to Mobile Robot Localization in Complex Indoor Environments
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DOI：
10.2316/journal.206.2012.2.206-3498
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发表时间：
2012-05
期刊：
影响因子：
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通讯作者：
Yan Zhuang;Ke Wang;Wei Wang;Huosheng Hu
中科院分区：
文献类型：
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作者：
Yan Zhuang;Ke Wang;Wei Wang;Huosheng Hu
本文提出了一种混合传感系统的移动的机器人定位在大规模的室内环境。该系统根据环境特点采用全方位视觉和激光扫描两种传感模式。对于结构化的走廊环境，视觉信息被用来跟踪机器人的位姿与预定义的混合度量拓扑地图。对于半结构化的办公室，选择激光扫描模式，基于扫描匹配算法生成一系列相对位姿变换。卡尔曼滤波器被部署来平滑多个扫描匹配结果。所提出的混合传感系统可以执行定位任务的飞行，具有高效的地图建模和计算简单的特点。实验结果证明了所提出的技术的性能和有效性。
This paper presents a hybrid sensing system for mobile robot localization in large-scale indoor environments. The system operates in two sensing modes, either omni-directional vision or laser scanning, according to the environmental characteristics. For a structured corridor environment, the vision information is adopted to track the robot pose with a predefined hybrid metric-topological map. For a semi-structured office room, the laser scanning mode is chosen to generate a sequence of relative pose transformations based on a scan matching algorithm. Kalman filters are deployed to smooth multiple scan matching results. The proposed hybrid sensing system can perform localization tasks on-the-fly, with the features of efficient map modelling and computational simplicity. Experimental results are provided to demonstrate the performance and effectiveness of the proposed techniques.