Hybrid map-building and localization for unstructured and moderately dynamic environments
Rady, Sherine; Badreddin, Essameddin;
Abstract
In this paper, a hybrid map-building and localization approach suiting unstructured and moderately dynamic environments is proposed. The map-building phase reduces the domain of extracted local point features through an information-theoretic analysis, which simultaneously selects distinctive features only. Reduced features are compressed into a dictionary yielding data for fast robot localization on a topological level. The uncompressed features, additionally tagged with their metric position, are used together to resolve the robot's position on a second metric level. The complexity of geometric localization is reduced because of the hierarchical processing based on a previously identified topological location. The dynamics of the environment are detected through the spatial layout of features and are isolated at the metric level. The proposed map-building and localization approach enables fast hybrid localization without degenerating the accuracy of localization. © 2012 IEEE.
Other data
Title | Hybrid map-building and localization for unstructured and moderately dynamic environments | Authors | Rady, Sherine ; Badreddin, Essameddin | Keywords | dynamic environment;map-building;hybrid | localization;unstructured environment;feature selection and reduction | Issue Date | 28-Nov-2012 | Conference | IS'2012 - 2012 6th IEEE International Conference Intelligent Systems, Proceedings | ISBN | 9781467327824 | DOI | 10.1109/IS.2012.6335165 | Scopus ID | 2-s2.0-84869843516 |
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