Loading...
Loading...

Go to the content (press return)

Localization in highly dynamic environments using dual-timescale NDT-MCL

Author
Valencia, R.; Saarinen, J.; Andreasson, H.; Vallve, J.; Andrade-Cetto, J.; Lilienthal, A.
Type of activity
Presentation of work at congresses
Name of edition
2014 IEEE International Conference on Robotics and Automation
Date of publication
2014
Presentation's date
2014
Book of congress proceedings
2014 IEEE International Conference on Robotics and Automation (ICRA)
First page
3956
Last page
3962
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
DOI
https://doi.org/10.1109/ICRA.2014.6907433 Open in new window
Project funding
Cargo handling by automated next generation transportation systems for ports and terminals
Perception and Action in Robotics Problems with Large State Spaces DPI2011-27510 National Project
Repository
http://hdl.handle.net/2117/28567 Open in new window
URL
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6907433 Open in new window
Abstract
Industrial environments are rarely static and often their configuration is continuously changing due to the material transfer flow. This is a major challenge for infrastructure free localization systems. In this paper we address this challenge by introducing a localization approach that uses a dual- timescale approach. The proposed approach - Dual-Timescale Normal Distributions Transform Monte Carlo Localization (DT- NDT-MCL) - is a particle filter based localization method, which simultaneously...
Citation
Valencia, R. [et al.]. Localization in highly dynamic environments using dual-timescale NDT-MCL. A: IEEE International Conference on Robotics and Automation. "2014 IEEE International Conference on Robotics and Automation (ICRA)". Hong Kong: Institute of Electrical and Electronics Engineers (IEEE), 2014, p. 3956-3962.
Keywords
robots
Group of research
VIS - Artificial Vision and Intelligent Systems

Participants

  • Valencia Carreño, Rafael  (author and speaker )
  • Saarinen, Jari  (author and speaker )
  • Andreasson, Henrik  (author and speaker )
  • Vallvé Navarro, Joan  (author and speaker )
  • Andrade Cetto, Juan  (author and speaker )
  • Lilienthal, Achim  (author and speaker )