Localization of Outdoor Mobile Robots Using Curb Features in Urban Road Environments

Lee, Deokjung; Park, Jooyoung; Chung, Woojin

doi:10.1155/2014/368961

Cited by 8 publications

(2 citation statements)

References 23 publications

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“…As a result, environmental insecurity is relatively high. There are many complex studies for autonomous navigation of mobile robot in outdoor [17], for example: a combination related to GPS and IMU [18], odometry curb functions and information on the differential global positioning system (DGPS) [17], VIZARD [19] and faster regional convolutional neural network (faster R-CNN) [20]. Finally, representation was one of the fundamental problems for map-based localization system.…”

Section: Localization Systemmentioning

confidence: 99%

A one decade survey of autonomous mobile robot systems

Zghair

Al-Araji

2021

IJECE

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<span lang="EN-US">Recently, autonomous mobile robots have gained popularity in the modern world due to their relevance technology and application in real world situations. The global market for mobile robots will grow significantly over the next 20 years. Autonomous mobile robots are found in many fields including institutions, industry, business, hospitals, agriculture as well as private households for the purpose of improving day-to-day activities and services. The development of technology has increased in the requirements for mobile robots because of the services and tasks provided by them, like rescue and research operations, surveillance, carry heavy objects and so on. Researchers have conducted many works on the importance of robots, their uses, and problems. This article aims to analyze the control system of mobile robots and the way robots have the ability of moving in real-world to achieve their goals. It should be noted that there are several technological directions in a mobile robot industry. It must be observed and integrated so that the robot functions properly: Navigation systems, localization systems, detection systems (sensors) along with motion and kinematics and dynamics systems. All such systems should be united through a control unit; thus, the mission or work of mobile robots are conducted with reliability.</span>

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Section: Localization Systemmentioning

confidence: 99%

A one decade survey of autonomous mobile robot systems

Zghair

Al-Araji

2021

IJECE

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“…Kalman Filters [23] or Monte Carlo Localization [18], [20], and they are evaluated at low speed and/or on short maps of a few hundred meters [22]. In addition they do not use raw curbstone measurements as a feature for localization and mapping [16]- [18], [21], [22].…”

Section: Related Workmentioning

confidence: 99%

MOZARD: Multi-Modal Localization for Autonomous Vehicles in Urban Outdoor Environments

Sekanina¹,

Pfreundschuh²,

Buerki³

et al. 2020

Preprint

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Visually poor scenarios are one of the main sources of failure in visual localization systems in outdoor environments. To address this challenge, we present MOZARD, a multi-modal localization system for urban outdoor environments using vision and LiDAR. By extending our preexisting key-point based visual multi-session local localization approach with the use of semantic data, an improved localization recall can be achieved across vastly different appearance conditions. In particular we focus on the use of curbstone information because of their broad distribution and reliability within urban environments. We present thorough experimental evaluations on several driving kilometers in challenging urban outdoor environments, analyze the recall and accuracy of our localization system and demonstrate in a case study possible failure cases of each subsystem. We demonstrate that MOZARD is able to bridge scenarios where our previous work VIZARD fails, hence yielding an increased recall performance, while a similar localization accuracy of 0.2m is achieved.

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Automated guided vehicles and autonomous mobile robots for recognition and tracking in civil engineering

Zhang

Wang

et al. 2023

Automation in Construction

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Localization of Outdoor Mobile Robots Using Curb Features in Urban Road Environments

Cited by 8 publications

References 23 publications

A one decade survey of autonomous mobile robot systems

A one decade survey of autonomous mobile robot systems

MOZARD: Multi-Modal Localization for Autonomous Vehicles in Urban Outdoor Environments

Automated guided vehicles and autonomous mobile robots for recognition and tracking in civil engineering

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