Mobile robot localization based-on model matching in hough space
Xianzhong Dai · Manufacturing Automation · 2004
Perceiving the position and orientation of the mobile robot in environment is an important element for an autonomous robot. The classical Hough transform is introduced into local- ization of the mobile robot. To implement self-localization with known environment models, a local map in the Hough space is firstly built via the vision system. Then the matching between known map of the environment and a local map is performed in the Hough space. Finally this matching is fused with odometry information by means of the Extended Kalman Filtering. The technique is especially adapted to polygonal environments. Experimental results validate the favorable performance of this approach.