scholarly journals A Robust Localization Method in Indoor Dynamic Environment

2021 ◽  
Vol 1043 (5) ◽  
pp. 052025
Author(s):  
Shan Huang ◽  
Hong-Zhong Huang ◽  
Qi Zeng
Keyword(s):  
Dynamic Environment ◽  
Localization Method ◽  
Robust Localization

Enhancement of Scan Matching Using an Environmental Magnetic Field

2018 ◽  
Vol 30 (4) ◽  
pp. 532-539 ◽  
Author(s):  
Sam Ann Rahok ◽  
Hirohisa Oneda ◽  
Taichi Nakayama ◽  
Kazumichi Inoue ◽  
Shigeji Osawa ◽  
...  
Keyword(s):  
Magnetic Field ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Geomagnetic Field ◽  
Unique Property ◽  
Scan Matching ◽  
Localization Method ◽  
Robust Localization

Scan matching is one of the most reliable localization methods for mobile robots in known environments. However, an unexpected shift in posture remains its major issue. A method that uses an environmental magnetic field, a magnetic field that occurs in the environment, is presented to address this issue. The environmental magnetic field, which mostly refers to the geomagnetic field, is rarely changed by time. This unique property provides a means to enhance scan matching to provide a more robust localization method by using it to compensate the mobile robot’s pose. In this study, we describe how to compensate the mobile robot’s pose with the environmental magnetic field. Through experiments, we show that a mobile robot with the proposed method can recover, even if irregular changes in posture occur during the navigation.

A Robust Localization Method for Mobile Robots Based on Ceiling Landmarks

2007 ◽  
pp. 422-430 ◽  
Author(s):  
Viet Thang Nguyen ◽  
Moon Seok Jeong ◽  
Sung Mahn Ahn ◽  
Seung Bin Moon ◽  
Sung Wook Baik
Keyword(s):  
Mobile Robots ◽  
Localization Method ◽  
Robust Localization
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