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- W4313201675 abstract "Accurate and robust map-based localization is crucial for autonomous mobile robots. In this paper, we build a set of lidar localization framework, from initialization to pose tracking, to achieve real-time localization of mobile robots on priori map. To tackle the problem that large localization errors happen when mobile robot is turning fastly, we proposes a priori pose compensation method to improve it. By extracting the global features of the point cloud and performing pre-alignment, we provide an accurate a prior pose for further point cloud registration to improve the accuracy of robot localization in turns. We tested the proposed localization approach on a mobile robot platform equipped with a lidar sensor in campus scenario. The experimental results show that our method can reliably and accurately localize the mobile robot in the campus scenario and operate online at the lidar sensor frame rate to track the robot pose." @default.
- W4313201675 created "2023-01-06" @default.
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- W4313201675 date "2022-01-01" @default.
- W4313201675 modified "2023-09-26" @default.
- W4313201675 title "Lidar Localization Method for Mobile Robots Based on Priori Pose Compensation" @default.
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- W4313201675 doi "https://doi.org/10.1007/978-981-19-9195-0_26" @default.
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