Mobile robot localization using the Hausdorff distance

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dc.contributor.authorDonoso Aguirre, F.
dc.contributor.authorBustos Salas, J. P.
dc.contributor.authorTorres Torriti, M.
dc.contributor.authorGuesalaga, A.
dc.date.accessioned2024-01-10T12:06:41Z
dc.date.available2024-01-10T12:06:41Z
dc.date.issued2008
dc.description.abstractThis paper presents a novel method for localization of mobile robots in structured environments. The estimation of the position and orientation of the robot relies on the minimisation of the partial Hausdorff distance between ladar range measurements and a floor plan image of the building. The approach is employed in combination with an extended Kalman filter to obtain accurate estimates of the robot's position, heading and velocity. Good estimates of these variables were obtained during tests performed using a differential drive robot, thus demonstrating that the approach provides an accurate, reliable and computationally feasible alternative for indoor robot localization and autonomous navigation.
dc.fechaingreso.objetodigital2024-04-25
dc.format.extent13 páginas
dc.fuente.origenWOS
dc.identifier.doi10.1017/S0263574707003657
dc.identifier.eissn1469-8668
dc.identifier.issn0263-5747
dc.identifier.urihttps://doi.org/10.1017/S0263574707003657
dc.identifier.urihttps://repositorio.uc.cl/handle/11534/76193
dc.identifier.wosidWOS:000254539000001
dc.information.autorucIngeniería;Bustos-Salas S;S/I;121080
dc.information.autorucIngeniería;Donoso-Aguirre F;S/I;119116
dc.information.autorucIngeniería;Guesalaga A;S/I;63871
dc.information.autorucIngeniería;Torres-Torriti M;S/I;96590
dc.language.isoen
dc.nota.accesocontenido parcial
dc.pagina.final141
dc.pagina.inicio129
dc.publisherCAMBRIDGE UNIV PRESS
dc.revistaROBOTICA
dc.rightsacceso restringido
dc.subjectmobile robot localization
dc.subjectHausdorff distance
dc.subjectmap-matching
dc.subjectNAVIGATION
dc.subjectREGISTRATION
dc.subjectALIGNMENT
dc.subjectIMAGES
dc.subject.ods11 Sustainable Cities and Communities
dc.subject.odspa11 Ciudades y comunidades sostenibles
dc.titleMobile robot localization using the Hausdorff distance
dc.typeartículo
dc.volumen26
sipa.codpersvinculados121080
sipa.codpersvinculados119116
sipa.codpersvinculados63871
sipa.codpersvinculados96590
sipa.indexWOS
sipa.indexScopus
sipa.trazabilidadCarga SIPA;09-01-2024
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