Combining vision and range sensors for AMCL localization in corridor environments with rectangular signs.

IF 3 Q2 ROBOTICS
Frontiers in Robotics and AI Pub Date : 2025-09-05 eCollection Date: 2025-01-01 DOI:10.3389/frobt.2025.1652251
Paloma de la Puente, Germán Vega-Martínez, Patricia Javierre, Javier Laserna, Elena Martin-Arias
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引用次数: 0

Abstract

Localization is widely recognized as a fundamental problem in mobile robotics. Even though robust localization methods do exist for many applications, it is difficult for them to succeed in complex environments and challenging situations. In particular, corridor-like environments present important issues for traditional range-based methods. The main contribution of this paper is the integration of new observation models into the popular AMCL ROS node, considering visual features obtained from the detection of rectangular landmarks. Visual rectangles are distinctive elements which are very common in man-made environments and should be detected and recognized in a robust manner. This hybrid approach is developed and evaluated both for the combination of an omnidirectional camera and a laser sensor (using artificial markers) and for RGB-D sensors (using natural rectangular features). For the latter, this work also introduces RIDGE, a novel algorithm for detecting projected quadrilaterals representing rectangles in images. Simulations and real world experiments are presented for both cases. As shown and discussed in the article, the proposed approach provides significant advantages for specific conditions and common scenarios such as long straight corridors.

结合视觉和距离传感器的矩形标识走廊环境AMCL定位。
定位被广泛认为是移动机器人的一个基本问题。尽管许多应用程序都存在健壮的定位方法,但它们很难在复杂的环境和具有挑战性的情况下取得成功。特别是,类似走廊的环境对传统的基于范围的方法提出了重要的问题。本文的主要贡献是将新的观测模型集成到流行的AMCL ROS节点中,并考虑了从矩形地标检测中获得的视觉特征。视觉矩形是人造环境中非常常见的独特元素,应该以稳健的方式检测和识别。开发和评估了这种混合方法,包括全向相机和激光传感器(使用人工标记)和RGB-D传感器(使用自然矩形特征)的组合。对于后者,本工作还介绍了RIDGE,一种用于检测图像中代表矩形的投影四边形的新算法。对这两种情况进行了模拟和实际实验。正如文中所展示和讨论的那样,所建议的方法对于特定条件和常见场景(如长直走廊)提供了显著的优势。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
CiteScore
6.50
自引率
5.90%
发文量
355
审稿时长
14 weeks
期刊介绍: Frontiers in Robotics and AI publishes rigorously peer-reviewed research covering all theory and applications of robotics, technology, and artificial intelligence, from biomedical to space robotics.
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