Skip to main content
Fachgebiete
Automobil + Motoren Bauwesen + Immobilien Business IT + Informatik Elektrotechnik + Elektronik Energie + Nachhaltigkeit Finance + Banking Management + Führung Marketing + Vertrieb Maschinenbau + Werkstoffe Versicherung + Risiko
DE
EN
Themenseiten
Organisationspsychologie Projektmanagement Marketing Smart Manufacturing
Bücher
Zeitschriften
Weitere Formate
Podcasts Webinare Technik Webinare Wirtschaft Kongresse Veranstaltungskalender Awards
Jetzt Einzelzugang starten
Zugang für Unternehmen
Referenzkunden
ATZ-Fachkongress

Chassis.tech plus 2024


4 Kongresse in einer Veranstaltung

Treffen Sie in München die Fachleute von Chassis, Lenkung, Bremsen sowie Reifen/Räder.
Erweiterte Suche
Anmelden
nach oben
Autonomous Robots
Erschienen in: Autonomous Robots 2/2012

01.02.2012

Improving odometry using a controlled point laser

verfasst von: Tom Epton, Adam Hoover

Erschienen in: Autonomous Robots | Ausgabe 2/2012

Einloggen

Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.

search-config
loading …

Abstract

We describe methods to improve an odometry estimate of motion using a single point range-finding laser. The laser measures the distance to an arbitrary point on a flat surface. After some motion, the odometry estimate of the motion is used to aim the laser to measure the distance to the same point. Through geometric methods the discrepancy in the expected and measured distances can be used to update the odometer estimate of the motion. We present experiments using a mobile robot, pan-tilt unit and laser. Our method could be incorporated into any simultaneous localization and mapping (SLAM) algorithm.
Vorheriger Artikel Automated synthesis of action selection policies for unmanned vehicles operating in adverse environments

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Jetzt informieren
Literatur
Abbas, T., Arif, M., & Ahmed, W. (2006). Measurement and correction of systematic odometry errors caused by kinematics imperfections in mobile robots. In SICE-ICASE international joint conference (pp. 2073–2078). CrossRef
Blanco, J., Moreno, F., & Gonzalez, J. (2009). A collection of outdoor robotic datasets with centimeter-accuracy ground truth. Autonomous Robots, 27, 327–351. CrossRef
Borenstein, J. (1998). Experimental results from internal odometry error correction with the OmniMate mobile robot. IEEE Transactions on Robotics and Automation, 14(6), 963–969. CrossRef
Choi, Y., Lee, T., & Oh, S. (2008). A line feature based SLAM with low grade range sensors using geometric constraints and active exploration for mobile robot. Autonomous Robots, 24, 13–27. CrossRef
Cole, D., & Newman, P. (2006). Using laser range data for 3D SLAM in outdoor environments. In Proc. of int’l conf. on robotics and automation (pp. 1556–1563).
Dissanayake, G., Newman, P., Clark, S., Durrant-Whyte, H., & Csorba, M. (2001). A solution to the simultaneous localization and map building (slam) problem. IEEE Transactions on Robotics and Automation, 17(3), 229–241. CrossRef
Epton, T. (2007). Odometry correction of a mobile robot using a range-finding laser. Master’s thesis, Electrical & Computer Engineering Dept., Clemson University.
Howard, A., Mataric, M., & Sukhatme, G. (2002). Localization for mobile robot teams using maximum likelihood estimation. In Proc. of IEEE/RSJ int’l conf. on intelligent robots and systems (pp. 434–439). CrossRef
Kümmerle, R., Steder, B., Dornhege, C., Ruhnke, M., Grisetti, G., Stachniss, C., & Kleiner, A. (2009). On measuring the accuracy of SLAM algorithms. Autonomous Robots, 27, 387–407. CrossRef
Lu, F., & Milios, E. (1997). Robot pose estimation in unknown environments by matching 2D range scans. Journal of Intelligent & Robotic Systems, 18, 249–275. CrossRef
Maeyama, S., Ishikawa, N., & Yuta, S. (1996). Rule based filtering and fusion of odometry and gyroscope for a fail safe dead reckoning system of a mobile robot. In Proc. of IEEE/SICE/RSJ int’l conf. on multisensor fusion and integration for intelligent systems (pp. 541–548).
Martinelli, A. (2001). A possible strategy to evaluate the odometry error of a mobile robot. In Proc. of IEEE/RSJ int’l conf. on intelligent robots and systems (pp. 1946–1951).
Martinelli, A. (2002). Evaluating the odometry error of a mobile robot. In Proc. of IEEE/RSJ int’l conf. on intelligent robots and systems (pp. 853–858). CrossRef
Martinelli, A., Tomatis, N., & Siegwart, R. (2007). Simultaneous localization and odometry self calibration for mobile robot. Autonomous Robots, 22(1), 75–85. CrossRef
Meng, Q., & Bischoff, R. (2005). Odometry based pose determination and errors measurement for a mobile robot with two steerable drive wheels. Journal of Intelligent and Robotic Systems: Theory and Applications, 41(4), 263–282. CrossRef
Montemerlo, M., & Thrun, S. (2007). FastSLAM: A scalable method for the simultaneous localization and mapping problem in robotics. Berlin: Springer. MATH
Nguyen, V., Gächter, S., Martinelli, A., Tomatis, N., & Siegwart, R. (2007). A comparison of line extraction algorithms using 2D range data for indoor mobile robotics. Autonomous Robots, 23, 97–111. CrossRef
Rudolph, A. (2003). Quantification and estimation of differential odometry errors in mobile robotics with redundant sensor information. The International Journal of Robotics Research, 22(2), 117–128. CrossRef
Wang, C. (1998). Location estimation and uncertainty analysis for mobile robots. In Proc. of IEEE int’l conf. on robotics and automation (pp. 1231–1235).
Williams, B., et al. (2009). A comparison of loop closing techniques in monocular SLAM. Robotics and Autonomous Systems, 57(12), 1188–1197. CrossRef
Metadaten
Titel
Improving odometry using a controlled point laser
verfasst von
Tom Epton
Adam Hoover
Publikationsdatum
01.02.2012
Verlag
Springer US
Erschienen in
Autonomous Robots / Ausgabe 2/2012
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI
https://doi.org/10.1007/s10514-011-9272-x

Weitere Artikel der Ausgabe 2/2012

Autonomous Robots 2/2012 Zur Ausgabe

OriginalPaper

Autonomous exploration using rapid perception of low-resolution image information

OriginalPaper

Two-handed gesture recognition and fusion with speech to command a robot

OriginalPaper

Interactive imitation learning of object movement skills

OriginalPaper

Automated synthesis of action selection policies for unmanned vehicles operating in adverse environments

Neuer Inhalt

    Bildnachweise