A Novel Keep Zero as Zero Polar Correlation Technique for Mobile Robot Localization using LIDAR
Sensor fusion based localization techniques often need accurate estimate of the fast and uncertain scene change in environment. To determine the scene change from two consecutive LIDAR scans, this paper proposes a novel technique called 'keep zero as zero' polar correlation. As it name i...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Stefan cel Mare University of Suceava
2016-11-01
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| Series: | Advances in Electrical and Computer Engineering |
| Subjects: | |
| Online Access: | http://dx.doi.org/10.4316/AECE.2016.04003 |
| Summary: | Sensor fusion based localization techniques often need accurate estimate of the fast and uncertain scene change
in environment. To determine the scene change from two consecutive LIDAR scans, this paper proposes a novel
technique called 'keep zero as zero' polar correlation. As it name implies any zero in the scan data is kept
isolated from scene change estimation as it do not carry any information about scene change. Unlike existing
techniques, the proposed methodology employs minimization of selective horizontal and vertically shifted sum
of difference between the scans to estimate scene change in terms of rotation and translation. Minimization
of the proposed correlation function across the specified search space can guarantee an accurate estimate of
scene change without any ambiguity. The performance of the proposed method is tested experimentally on a mobile
robot in two modes depending on the scene change. In the first mode, scene change is detected using dynamic LIDAR,
whereas static LIDAR is used in the second mode. The proposed methodology is found to be more robust to environmental
uncertainties with a reliable level of localization accuracy. |
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| ISSN: | 1582-7445 1844-7600 |