TY - GEN
T1 - Deployment of a point and line feature localization system for an outdoor agriculture vehicle
AU - Libby, Jacqueline
AU - Kantor, George
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
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U2 - 10.1109/ICRA.2011.5980430
DO - 10.1109/ICRA.2011.5980430
M3 - Conference contribution
AN - SCOPUS:84871689634
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1565
EP - 1570
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -