Global localization using odometry

Jason M. O'Kane
In Proc. IEEE International Conference on Robotics and Automation 2006.

Abstract

This paper presents a global localization technique for a robot with only linear and angular odometers. The robot, whose configuration is composed of its position and orientation, moves in a fully-known environment by alternating rotations and forward translations. We pose the problem as a discrete-time planning problem in the robot's information space, which encapsulates the uncertainty in the robot's configuration. Our contribution is to show that in any simply-connected, bounded polygonal environment, localization by odometry alone is possible, but only up to the symmetries in the environment.

Download

BibTeX

@inproceedings{OKa06,
  author       = {Jason M. O'Kane},
  title        = {Global localization using odometry},
  booktitle    = {Proc. IEEE International Conference on Robotics and
		 Automation},
  year	       = {2006}
}

O'Kane's home page
O'Kane's publication list

Wed Sep 20 09:19:46 EDT 2017