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C-LOG: A Chamfer Distance based method for localisation in occupancy grid-maps
Authors
L Dantanarayana
G Dissanayake
R Ranasinghe
Publication date
1 December 2013
Publisher
'Institute of Electrical and Electronics Engineers (IEEE)'
Doi
Cite
Abstract
In this paper, the problem of localising a robot within a known two-dimensional environment is formulated as one of minimising the Chamfer Distance between the corresponding occupancy grid map and information gathered from a sensor such as a laser range finder. It is shown that this nonlinear optimisation problem can be solved efficiently and that the resulting localisation algorithm has a number of attractive characteristics when compared with the conventional particle filter based solution for robot localisation in occupancy grids. The proposed algorithm is able to perform well even when robot odometry is unavailable, insensitive to noise models and does not critically depend on any tuning parameters. Experimental results based on a number of public domain datasets as well as data collected by the authors are used to demonstrate the effectiveness of the proposed algorithm. © 2013 IEEE
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Last time updated on 20/04/2021