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Improving Localisation Accuracy using Submaps in warehouses
Örebro University, School of Science and Technology.ORCID iD: adolfsson
Örebro University, School of Science and Technology.ORCID iD: 0000-0003-3788-499X
Örebro University, School of Science and Technology.ORCID iD: 0000-0002-2953-1564
2018 (English)Conference paper, Oral presentation with published abstract (Other academic)
Abstract [en]

This paper presents a method for localisation in hybrid metric-topological maps built using only local information that is, only measurements that were captured by the robot when it was in a nearby location. The motivation is that observations are typically range and viewpoint dependent and that a map a discrete map representation might not be able to explain the full structure within a voxel. The localisation system uses a method to select submap based on how frequently and where from each submap was updated. This allow the system to select the most descriptive submap, thereby improving the localisation and increasing performance by up to 40%.

Place, publisher, year, edition, pages
2018.
National Category
Robotics
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-71844OAI: oai:DiVA.org:oru-71844DiVA, id: diva2:1282987
Conference
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Workshop on Robotics for Logistics in Warehouses and Environments Shared with Humans, Madrid, Spain, October 5, 2018
Projects
IliadAvailable from: 2019-01-28 Created: 2019-01-28 Last updated: 2019-01-28Bibliographically approved

Open Access in DiVA

Improving Localisation Accuracy using Submaps in warehouses(1482 kB)15 downloads
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File name FULLTEXT01.pdfFile size 1482 kBChecksum SHA-512
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Type fulltextMimetype application/pdf

Authority records BETA

Adolfsson, DanielLowry, StephanieAndreasson, Henrik

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf