A Ground Texture-based Mapping and Localization Method for AGVs

Javier Macias-Sola, Sarah Uttendorf,Jan Olaf Blech

2021 International Conference on Indoor Positioning and Indoor Navigation (IPIN)（2021）

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摘要

We present a ground-texture based mapping and localization method that we implement and evaluate on an industrial AGV. Our method compares recorded textures with known pictures from a database prior estimating the pose. This comparison is based on feature histograms. Keeping this structure allows us to perform a live evaluation of the quality of the pose estimates. This is done by leveraging the c...

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关键词

Location awareness,Rails,Histograms,Databases,Indoor navigation,Lighting,Cleaning

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