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A Submap per Perspective: Selecting Subsets for SuPer Mapping that Afford Superior Localization Quality
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: adolfsson
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0003-3788-499X
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0001-8658-2985
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0003-0217-9326
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2019 (English)In: 2019 European Conference on Mobile Robots (ECMR), IEEE, 2019Conference paper, Published paper (Refereed)
Abstract [en]

This paper targets high-precision robot localization. We address a general problem for voxel-based map representations that the expressiveness of the map is fundamentally limited by the resolution since integration of measurements taken from different perspectives introduces imprecisions, and thus reduces localization accuracy.We propose SuPer maps that contain one Submap per Perspective representing a particular view of the environment. For localization, a robot then selects the submap that best explains the environment from its perspective. We propose SuPer mapping as an offline refinement step between initial SLAM and deploying autonomous robots for navigation. We evaluate the proposed method on simulated and real-world data that represent an important use case of an industrial scenario with high accuracy requirements in an repetitive environment. Our results demonstrate a significantly improved localization accuracy, up to 46% better compared to localization in global maps, and up to 25% better compared to alternative submapping approaches.

Place, publisher, year, edition, pages
IEEE, 2019.
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-79739DOI: 10.1109/ECMR.2019.8870941Scopus ID: 2-s2.0-85074443858ISBN: 978-1-7281-3605-9 (electronic)OAI: oai:DiVA.org:oru-79739DiVA, id: diva2:1391182
Conference
European Conference on Mobile Robotics (ECMR), Prague, Czech Republic, September 4 - 6, 2019
Funder
EU, Horizon 2020, 732737Available from: 2020-02-03 Created: 2020-02-03 Last updated: 2020-02-14Bibliographically approved

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A Submap per Perspective - Selecting Subsets for SuPer Mapping that Afford Superior Localization Quality(4793 kB)20 downloads
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Adolfsson, DanielLowry, StephanieMagnusson, MartinLilienthal, Achim J.Andreasson, Henrik

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