In mobile robotics, localization plays a key role in every task assigned to a robot. This report describes the probabilistic module we developed to solve the localization problem in our autonomous driving vehicle. Our method uses a complete 6DoF approach within a 3D motion model, in order to correctly integrate the error caused by dead reckoning. Furthermore, the description of the environment is a 3D voxel representation. We base on particle filtering, in the localization process. An ad-hoc simulation environment has been developed, for testing the effectiveness of the motion model. Finally, we performed some field experiments, to demonstrate that our approach consistently locates the 6DoF position of the vehicle along the driven path on the test site

Ballardini, A., Furlan, A., Galbiati, A., Matteucci, M., Sacchi, F., Sorrenti, D. (2012). 6DoF Monte Carlo Localization in a 3D world with Laser Range Finders. Dipartimento di Informatica, Sistemistica e Comunicazione, Università degli Studi di Milano - Bicocca.

6DoF Monte Carlo Localization in a 3D world with Laser Range Finders

BALLARDINI, AUGUSTO LUIS
;
FURLAN, AXEL
Secondo
;
SORRENTI, DOMENICO GIORGIO
Ultimo
2012

Abstract

In mobile robotics, localization plays a key role in every task assigned to a robot. This report describes the probabilistic module we developed to solve the localization problem in our autonomous driving vehicle. Our method uses a complete 6DoF approach within a 3D motion model, in order to correctly integrate the error caused by dead reckoning. Furthermore, the description of the environment is a 3D voxel representation. We base on particle filtering, in the localization process. An ad-hoc simulation environment has been developed, for testing the effectiveness of the motion model. Finally, we performed some field experiments, to demonstrate that our approach consistently locates the 6DoF position of the vehicle along the driven path on the test site
Monografia o trattato scientifico - Monografia di Ricerca - Prima edizione
localization, amcl, montecarlo, monte carlo, 3d, usad, iralab, 6dof
English
Ballardini, A., Furlan, A., Galbiati, A., Matteucci, M., Sacchi, F., Sorrenti, D. (2012). 6DoF Monte Carlo Localization in a 3D world with Laser Range Finders. Dipartimento di Informatica, Sistemistica e Comunicazione, Università degli Studi di Milano - Bicocca.
Ballardini, A; Furlan, A; Galbiati, A; Matteucci, M; Sacchi, F; Sorrenti, D
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/10281/142533
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