C-LOG: A Chamfer Distance Based Method for Localisation in Occupancy Grid-maps

Publisher:
IEEE
Publication Type:
Conference Proceeding
Citation:
IEEE/RSJ International Conference on Intelligent Robots and Systems 2013, 2013, pp. 376 - 381
Issue Date:
2013-01
Full metadata record
Files in This Item:
Filename Description Size
C LOG A Chamfer Distance Based.pdfAccepted Manuscript version986.42 kB
Adobe PDF
In this paper, the problem of localising a robot within a known two-dimensional environment is formulated as one of minimising the Chamfer Distance between the corresponding occupancy grid map and information gathered from a sensor such as a laser range finder. It is shown that this nonlinear optimisation problem can be solved efficiently and that the resulting localisation algorithm has a number of attractive characteristics when compared with the conventional particle filter based solution for robot localisation in occupancy grids. The proposed algorithm is able to perform well even when robot odometry is unavailable, insensitive to noise models and does not critically depend on any tuning parameters. Experimental results based on a number of public domain datasets as well as data collected by the authors are used to demonstrate the effectiveness of the proposed algorithm.
Please use this identifier to cite or link to this item: