Locating a mobile robot using local observations and a global satellite map

A. Hayashi, T. Dean
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引用次数: 5

Abstract

A method for locating an autonomous mobile robot using local observations and a global satellite map is described. The satellite map provides approximate elevation data for an area within which the robot is known to be located. The map consists of a coarse grid of rectangular regions annotated with upper and lower bounds on the elevation within the region. In exploring its environment, the robot makes measurements to extract information about the relative position and orientation of local landmarks. These landmarks are integrated into a stochastic map, which is then matched with the satellite map to obtain an estimate of the robot's current location. The landmarks are not explicitly represented in the satellite map. The results of the proposed matching algorithm correspond to a probabilistic assessment of whether or not the robot is located within a given region of the satellite map. By assigning a probabilistic interpretation to the information stored in the satellite map, it is possible to provide a precise characterization of the results computed by the matching algorithm.<>
利用当地观测和全球卫星地图定位移动机器人
描述了一种利用局部观测和全球卫星地图定位自主移动机器人的方法。卫星地图提供已知机器人所在区域的大致高程数据。该地图由矩形区域的粗糙网格组成,在区域内标注了高程的上限和下限。在探索环境的过程中,机器人进行测量以提取有关局部地标的相对位置和方向的信息。这些地标被整合到随机地图中,然后与卫星地图相匹配,以获得机器人当前位置的估计。这些地标在卫星地图上没有明确表示。所提出的匹配算法的结果对应于机器人是否位于卫星地图的给定区域内的概率评估。通过对存储在卫星地图中的信息进行概率解释,就有可能对匹配算法计算的结果提供精确的表征
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