Natural landmark based localisation of mobile robots using laser range data

This paper presents a localisation procedure for a mobile robot operating in a structured environment whose map is totally or partially known a priori. The proposed approach is based on the recognition of natural landmarks identified through laser range data. With a rough estimate of the robot's position and orientation and the knowledge of an a priori map, the proposed technique chooses two vertical edges toward which, and using correctly chosen scanning parameters, a laser scan is directed. The post-processing of the so acquired range profile results in an updated estimate of the robot's location. The paper describes the different steps of the localisation technique, derives a criterion for the optimal choice of the pair of vertical edges, discusses relevant experimental results and presents directions for further research.