Proceedings of the 6th International Conference on Electronic, Mechanical, Information and Management Society

Particle Filter Based Robot Self-localization Using RGBD Cues and Wheel Odometry Measurements

Authors
Enyang Gao, Zhaohua Chen, Qizhuhui Gao
Corresponding Author
Enyang Gao
Available Online April 2016.
DOI
https://doi.org/10.2991/emim-16.2016.309How to use a DOI?
Keywords
Mobile robot; Self-localization; RGBD; Wheel odometry; Particle filter
Abstract
Mobile robot localization in the GPS denied environments is increasingly exerting fundamental roles in a wide range of applications such as SFM and SLAM. However, the traditional single sensor based positioning methods are either unreliable or inaccurate in the long term. This paper presents a novel moving agent localizing approach that combines both RGBD cues and wheel odometry measurements within the particle filter based probabilistic framework. Unlike the traditional RGBD localization methods which are computationally expensive and non-robust, we took advantage of wheel odomery measurements as the prior information or say the initial values during the RBGD pose optimization process. Additionally, the optimal pose derived from visual sensor is, in turn, able to determine the reliability of the wheel odometry inputs. This verifying process is considerably useful in the presence of wheel slip. Experimental results validate that our approach is effective and reliable in wheel robot localization.
Open Access
This is an open access article distributed under the CC BY-NC license.

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Proceedings
6th International Conference on Electronic, Mechanical, Information and Management Society
Part of series
Advances in Computer Science Research
Publication Date
April 2016
ISBN
978-94-6252-176-6
ISSN
2352-538X
DOI
https://doi.org/10.2991/emim-16.2016.309How to use a DOI?
Open Access
This is an open access article distributed under the CC BY-NC license.

Cite this article

TY  - CONF
AU  - Enyang Gao
AU  - Zhaohua Chen
AU  - Qizhuhui Gao
PY  - 2016/04
DA  - 2016/04
TI  - Particle Filter Based Robot Self-localization Using RGBD Cues and Wheel Odometry Measurements
BT  - 6th International Conference on Electronic, Mechanical, Information and Management Society
PB  - Atlantis Press
SP  - 1523
EP  - 1529
SN  - 2352-538X
UR  - https://doi.org/10.2991/emim-16.2016.309
DO  - https://doi.org/10.2991/emim-16.2016.309
ID  - Gao2016/04
ER  -