An Experimental Comparison of Localisation Methods, the MHL Sessions
Steen Kristensen and Patric Jensfelt
Abstract
In this paper we compare multi hypothesis
localisation (MHL) -- which is a mobile robot localisation method based
on multi hypothesis tracking -- with six other methods reported in the
literature. The comparison is performed using a standard set of test
data and corresponding evaluation tools, thus facilitating a direct
comparison of the obtained results. The experiments show that MHL
compares favourably to all other methods in terms of recovering when
the robot has been kidnapped. When using a validation gate for ltering
out noisy measurements, MHL and the standard extended Kalman lter both
perform as well as all other reported methods in terms of accuracy
while being faster to compute.
BibTeX Entry:
@InProceedings{Kristensen03a,
author = {Steen Kristensen and Patric Jensfelt},
title = {An Experimental Comparison of Localisation Methods, the MHL Sessions},
booktitle = "Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'03)",
year = 2003,
month = oct,
pages = "992--997"
}
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