Feasibility grids for localization and mapping in crowded urban scenes

Shao Wen Yang*, Chieh-Chih Wang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

18 Scopus citations

Abstract

Localization and mapping are fundamental tasks in mobile robotics. State-of-the-arts often rely on the static world assumption using the occupancy grids. However, the real environment is typically dynamic. We propose the feasibility grids to facilitate the representation of both the static scene and the moving objects. The dual sensor models are introduced to discriminate between stationary and moving objects in mobile robot localization. Instead of estimating the occupancy states, the feasibility grids maintain the stochastic estimates of the feasibility (crossability) states of the environment. Given that an observation can be decomposed into stationary objects and moving objects, incorporating the feasibility grids in localization yields performance improvements over the occupancy grids, particularly in highly dynamic environments. Our approach is extensively evaluated using real data acquired with a planar laser range finder. The experimental results show that the feasibility grid is capable of rapid convergence and robust performance in mobile robot localization by taking into account moving object information. A root mean squares accuracy of within 50cm is achieved, without the aid of GPS, which is sufficient for autonomous navigation in crowded urban scenes. The empirical results suggest that the performance of localization can be improved when handling the changing environment explicitly.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages2322-2328
Number of pages7
DOIs
StatePublished - 1 Dec 2011
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: 9 May 201113 May 2011

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CountryChina
CityShanghai
Period9/05/1113/05/11

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  • Cite this

    Yang, S. W., & Wang, C-C. (2011). Feasibility grids for localization and mapping in crowded urban scenes. In 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 (pp. 2322-2328). [5979635] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2011.5979635