A Localization Approach Based on Fixed 3D Objects for Autonomous Robots
In this paper, an object-based localization for mobile robot in real-time environments is proposed. The proposed system consists of a mobile platform and LiDAR. The proposed localization algorithm has 4 steps: (1) scanning the point cloud of the environment by the LiDAR mounted on a robot, (2) ground point removal and object segmentation, (3) recognizing objects with Point Feature Histogram (PFH) features, (4) computing the current position and pose by using the geometry relation between the 3D objects. Comparing with SLAM-based systems, the proposed method is more precise and efficient since the map and mapping are not necessary.
KeywordsLIDAR PFH Surface matching 3D registration Calibration Localization
This work was financially supported by the “Intelligent Recognition Industry Service Center” from The Featured Areas Research Center Program within the framework of the Higher Education Sprout Project by the Ministry of Education (MOE) in Taiwan.
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