C-LOG: A Chamfer Distance based method for localisation in occupancy grid-maps

Dantanarayana, L; Ranasinghe, R; Dissanayake, G

C-LOG: A Chamfer Distance based method for localisation in occupancy grid-maps

Dantanarayana, L

Ranasinghe, R

Dissanayake, G

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Publication Type:: Conference Proceeding
Citation:: IEEE International Conference on Intelligent Robots and Systems, 2013, pp. 376 - 381
Issue Date:: 2013-12-01

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Field	Value	Language
dc.contributor.author	Dantanarayana, L https://orcid.org/0000-0002-8887-329X	en_US
dc.contributor.author	Ranasinghe, R https://orcid.org/0000-0002-3785-3723	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.date.issued	2013-12-01	en_US
dc.identifier.citation	IEEE International Conference on Intelligent Robots and Systems, 2013, pp. 376 - 381	en_US
dc.identifier.isbn	9781467363587	en_US
dc.identifier.issn	2153-0858	en_US
dc.identifier.uri	http://hdl.handle.net/10453/31036
dc.identifier.uri	http://hdl.handle.net/10453/27591
dc.description.abstract	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. © 2013 IEEE.	en_US
dc.relation.ispartof	IEEE International Conference on Intelligent Robots and Systems	en_US
dc.relation.isbasedon	10.1109/IROS.2013.6696379	en_US
dc.title	C-LOG: A Chamfer Distance based method for localisation in occupancy grid-maps	en_US
dc.type	Conference Proceeding
utslib.for	091303 Autonomous Vehicles	en_US
utslib.for	090602 Control Systems, Robotics and Automation	en_US
dc.location.activity	Tokyo, Japan	en_US
dc.location.activity	Tokyo, JAPAN
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

Abstract:

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. © 2013 IEEE.

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