2A1-M08 距離画像センサを用いたマルチリサンプリングMCLによる6自由度位置推定(移動ロボットの自己位置推定と地図構築)

概要

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In this paper, we propose a 6DOF localization method by multiple resampling MCL for depth image sensors. Our purpose is development of a localization method by only using depth image sensors for mobile robots that cannot use motion sensors. Our proposed method executes sampling and re-sampling two or more times at the localization step. Proposed method enables to search a maximum likelihood position like hill-climbing search. Normal MCL executes sampling and resampling only once at the step. When there is no maximum likelihood position in samples, normal MCL is difficult to estimate a correct position. Our proposed method can estimate the position even in the difficult case by the searching algorithm. Experimental results demonstrate that the proposed method can robustly estimate 6DOF-positions without motion sensors.
一般社団法人日本機械学会の論文
2011-05-26