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Urban road environments that have pavement and curb are characterized as semi-structured road environments. In semi-structured road environments, the curb provides useful information for robot navigation. In this paper, we present a practical localization method for outdoor mobile robots using the curb features in semi-structured road environments. The curb features are especially useful in urban...
As one of the dominant features in the road environment, the curbs provide useful information for navigation. However, when the uncertainty model does not defined correctly, the road curb does not contribute to the estimated robot pose. In order to solve this problem, we propose the integrated localization scheme using curb features on the basis of uncertainty model of road curb. The uncertainty model...
This paper proposes a global localization method using reflectors for mobile robots. Where the natural feature is not clear, the localization using only natural features is difficult. Furthermore, where the surrounding environment is changed frequently, there is a problem needs to be updated the global map each time. For these, we propose a global localization using reflectors. Global localization...
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