Elevation moment of inertia: A new feature for Monte Carlo localization in outdoor environment with elevation map
- Elevation moment of inertia: A new feature for Monte Carlo localization in outdoor environment with elevation map
- 권태범; 송재복; 주상현
- Issue Date
- Journal of Field Robotics
- VOL 27, NO 3, 371-386
- The elevation map is one of themost popular maps for outdoor navigation.We propose the elevation moment of
inertia (EMOI), which represents the distribution of elevation around a robot in an elevation map, for use in the
matching of elevation maps. Using this feature, outdoor localization can be performed with an elevation map
without external positioning systems. In this research, the Monte Carlo localization (MCL) method is used for
outdoor localization, and the conventional method is based on range matching, which compares range sensor
data with the range data predicted from an elevation map. Our proposed method is based on EMOI matching.
The EMOI around a robot is compared with the EMOIs for all cells of the pregiven reference elevation map to
find a robot pose with respect to the reference map. MCL based on EMOI matching is very fast, although its
accuracy is slightly lower than that of conventional range matching. To deal with the disadvantage of EMOI
matching, an adaptive switching scheme between EMOI matching and range matching was also proposed.
Various outdoor experiments indicated that the proposed EMOI significantly reduced the convergence time of
MCL. Therefore, the proposed feature is considered to be useful when an elevation map is used for outdoor
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