Active Exploration for Feature Based Global Localization
Marco Seiz, Patric
Jensfelt and Henrik Christensen
Abstract
This paper presents an algorithm for a mobile robot
to actively explore the environment in order to achieve global
localization. During the localization process interesting regions for
future exploration are selected based on the detected features and on
the hypotheses generated by the localization algorithm. The
localization process is improved by presenting unique features to the
robot's sensors. The proposed algorithm provides highly robust global
localization in real world environments with very low computational
effort spent in finding exploration goal points. Experimental results
are given demonstrating the effectiveness of the algorithm in a number
of different situations.
BibTeX Entry:
@InProceedings{Seiz00,
author = {Marco Seiz and Patric Jensfelt and Henrik I. Christensen},
title = {Active Exploration for Feature Based Global Localization },
booktitle = {Proc.~of the International Conference on Intelligent Robots and Systems},
year = 2000
}
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