Publication

Localization in highly dynamic environments using dual-timescale NDT-MCL

Conference Article

Conference

IEEE International Conference on Robotics and Automation (ICRA)

Edition

2014

Pages

3956-3962

Doc link

http://dx.doi.org/10.1109/ICRA.2014.6907433

File

Download the digital copy of the doc pdf document

Abstract

Industrial environments are rarely static and often their configuration is continuously changing due to the material transfer flow. This is a major challenge for infrastructure free localization systems. In this paper we address this challenge by introducing a localization approach that uses a dual- timescale approach. The proposed approach - Dual-Timescale Normal Distributions Transform Monte Carlo Localization (DT- NDT-MCL) - is a particle filter based localization method, which simultaneously keeps track of the pose using an apriori known static map and a short-term map. The short-term map is continuously updated and uses Normal Distributions Transform Occupancy maps to maintain the current state of the environment. A key novelty of this approach is that it does not have to select an entire timescale map but rather use the best timescale locally. The approach has real-time performance and is evaluated using three datasets with increasing levels of dynamics. We compare our approach against previously pro- posed NDT-MCL and commonly used SLAM algorithms and show that DT-NDT-MCL outperforms competing algorithms with regards to accuracy in all three test cases.

Categories

robots.

Scientific reference

R. Valencia, J. Saarinen, H. Andreasson, J. Vallvé, J. Andrade-Cetto and A. Llilienthal. Localization in highly dynamic environments using dual-timescale NDT-MCL, 2014 IEEE International Conference on Robotics and Automation, 2014, Hong Kong, pp. 3956-3962.