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Photogrammetry based error analysis of indoor mobile robot localization
Escoda, Josep; Martínez Velasco, Antonio Benito; Benedico, Antonio; Font Llagunes, Josep Maria
Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica; Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. GRINS - Robòtica Intel·ligent i Sistemes
The presented work is a low cost “off-line” method that is able to evaluate the precision of mobile robot localization, which is a difficult task. A reference path is yielded by a drawing pen attached to indoor mobile robot, which also adds timestamps to the trace on the floor. The method is based on comparing the reference path obtained using photogrammetry, with the results of several localization algorithms on board of mobile robots. At the moment, different techniques exist that deal with that problem, but these are either expensive or too rigid.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Robòtica
Mobile robots
Photogrammetry
Robots mòbils
Fotogrametria
info:eu-repo/semantics/publishedVersion
info:eu-repo/semantics/conferenceObject
A. Burkowski, W. Burgard, P. Zingaretti
         

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