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Publication type: Article in Proceedings
Author: Axel Lankenau, Thomas Röfer, Bernd Krieg-Brückner
Editor: Christian Freksa, Wilfried Brauer, Christopher Habel, Karl F. Wender
Title: Self-Localization in Large-Scale Environments for the Bremen Autonomous Wheelchair
Book / Collection title: Spatial Cognition III
Volume: 2685
Page(s): 34 – 61
Series: Lecture Notes in Artificial Intelligence
Year published: 2003
Publisher: Springer
Abstract: This paper presents RouteLoc, a new approach for the absolute self-localization of mobile robots in structured large-scale environments. As experimental platform, the Bremen Autonmous Wheelchair "Rolland" is used on a 2,176m long journey across the campus of the Universität Bremen. RouteLoc poses only very low requirements with regard to sensor input, resources (memory, computing time), and a-priori knowledge. The approach is based on a hybrid topological-metric representation of the environment. It scales up very well, and is thus suitable for self-localization of service robots in large-scale environments. The evaluation of RouteLoc is done with a pure metric approach as reference method. It compares scan-matching results of laser range finder data with the position estimates of RouteLoc on a metric basis.
PDF Version: http://www.informatik.uni-bremen.de/kogrob/papers/sc02.pdf
Keywords: ai navigation robotics
Status: Reviewed
Last updated: 06. 11. 2013

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