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JRM Vol.22 No.2 pp. 158-166
doi: 10.20965/jrm.2010.p0158
(2010)

Paper:

6-DOF Localization for a Mobile Robot Using Outdoor 3D Point Clouds

Taro Suzuki, Yoshiharu Amano, and Takumi Hashizume

Research Institute for Science and Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan

Received:
September 30, 2009
Accepted:
January 8, 2010
Published:
April 20, 2010
Keywords:
mobile robot, localization, particle filter, 3D map, MCL
Abstract

This paper describes outdoor localization for a mobile robot using a laser scanner and three-dimensional (3D) point cloud data. A Mobile Mapping System (MMS) measures outdoor 3D point clouds easily and precisely. The full six-dimensional state of a mobile robot is estimated combining dead reckoning and 3D point cloud data. Two-dimensional (2D) position and orientation are extended to 3D using 3D point clouds assuming that the mobile robot remains in continuous contact with the road surface. Our approach applies a particle filter to correct position error in the laser measurement model in 3D point cloud space. Field experiments were conducted to evaluate the accuracy of our proposal. As the result of the experiment, it was confirmed that a localization precision of 0.2 m (RMS) is possible using our proposal.

Cite this article as:
Taro Suzuki, Yoshiharu Amano, and Takumi Hashizume, “6-DOF Localization for a Mobile Robot Using Outdoor 3D Point Clouds,” J. Robot. Mechatron., Vol.22, No.2, pp. 158-166, 2010.
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