Perceptual ambiguity maps for robot localizability with range perception
作者：
Highlights：
• The main cause of the robot localization problem is perception degradation.
• Perceptual Ambiguity occurs when 1 perception fits N robot poses, for example in a corridor.
• We propose an ambiguity model for laser and sonar, independent of the robot navigation system.
• Results are colour floor maps showing “bad localization” zones, available before navigation starts.
• Our model can be applied to heterogeneous 2D or 3D range sensors platforms.
• Applications: robot localizability, design of sensory platforms, optimum robot orientation.
摘要
•The main cause of the robot localization problem is perception degradation.•Perceptual Ambiguity occurs when 1 perception fits N robot poses, for example in a corridor.•We propose an ambiguity model for laser and sonar, independent of the robot navigation system.•Results are colour floor maps showing “bad localization” zones, available before navigation starts.•Our model can be applied to heterogeneous 2D or 3D range sensors platforms.•Applications: robot localizability, design of sensory platforms, optimum robot orientation.
论文关键词：Range perception,Range sensor,Laser,Sonar,2D range scanner,3D range scanner,Robot localization,Robot localizability,Perceptual ambiguity
论文评审过程：Received 4 November 2016, Revised 22 March 2017, Accepted 5 May 2017, Available online 5 May 2017, Version of Record 17 May 2017.
论文官网地址：https://doi.org/10.1016/j.eswa.2017.05.015
