Deployment of a point and line feature localization system for an outdoor agriculture vehicle

Jacqueline Libby, George Kantor

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    32 Scopus citations

    Abstract

    This paper presents a perception-based GPS-free approach for localizing a mobile robot in an orchard environment. An extended Kalman filter (EKF) algorithm is presented that uses a wheel odometry prediction step and laser rangefinder update steps. There are two update steps, one that uses measurements to reflective point features and one that uses measurements to linear features formed by tree rows. The features are associated to landmarks in previously surveyed maps. The practical issues of dealing with uncertainty both from the environment and the on-board sensors are discussed and accounted for. The resulting algorithm is demonstrated in over 20km of online operation in a variety of real orchard environments.

    Original languageEnglish
    Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
    Pages1565-1570
    Number of pages6
    DOIs
    StatePublished - 2011
    Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
    Duration: 9 May 201113 May 2011

    Publication series

    NameProceedings - IEEE International Conference on Robotics and Automation
    ISSN (Print)1050-4729

    Conference

    Conference2011 IEEE International Conference on Robotics and Automation, ICRA 2011
    Country/TerritoryChina
    CityShanghai
    Period9/05/1113/05/11

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