Comparison of indoor robot localization techniques in the absence of GPS

Regis Vincent; Benson Limketkai; Michael Eriksen

doi:10.1117/12.849593

29 April 2010 Comparison of indoor robot localization techniques in the absence of GPS

Regis Vincent, Benson Limketkai, Michael Eriksen

Proceedings Volume 7664, Detection and Sensing of Mines, Explosive Objects, and Obscured Targets XV; 76641Z (2010) https://doi.org/10.1117/12.849593
Event: SPIE Defense, Security, and Sensing, 2010, Orlando, Florida, United States

Abstract

When available, GPS is the quick and easy solution to localizing a robot. However, because it is often not available (e.g. indoors) or not reliable enough, other techniques, using laser range finders or cameras have been developed that offer better performance. For 2D localization,lLaser range finders are far more precise and easier to work with than cameras. We report here on the performance of several implementations of the main class of localization algorithms that use a laser, Simultaneous Localization And Mapping (SLAM) on the RAWSEEDS benchmark. SRI International's SLAM system has an RMS error in XY of 0.32m (0.22%). This is the best reported performance on this benchmark.

Citation Download Citation

Regis Vincent, Benson Limketkai, and Michael Eriksen "Comparison of indoor robot localization techniques in the absence of GPS", Proc. SPIE 7664, Detection and Sensing of Mines, Explosive Objects, and Obscured Targets XV, 76641Z (29 April 2010); https://doi.org/10.1117/12.849593

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