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ICRA
2008
IEEE

Place recognition-based fixed-lag smoothing for environments with unreliable GPS

8 years 8 months ago
Place recognition-based fixed-lag smoothing for environments with unreliable GPS
— Pose estimation of outdoor robots presents some distinct challenges due to the various uncertainties in the robot sensing and action. In particular, global positioning sensors of outdoor robots do not always work perfectly, causing large drift in the location estimate of the robot. To overcome this common problem, we propose a new approach for global localization using place recognition. First, we learn the location of some arbitrary key places using odometry measurements and GPS measurements only at the start and the end of the robot trajectory. In subsequent runs, when the robot perceives a key place, our fixed-lag smoother fuses odometry measurements with the relative location to the key place to improve its pose estimate. Outdoor mobile robot experiments show that place recognition measurements significantly improve the estimate of the smoother in the absence of GPS measurements.
Roozbeh Mottaghi, Michael Kaess, Ananth Ranganatha
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICRA
Authors Roozbeh Mottaghi, Michael Kaess, Ananth Ranganathan, Richard Roberts, Frank Dellaert
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