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Seeing the wood for the trees: reliable localization in urban and natural environments

Abstract:

In this work we introduce Natural Segmentation and Matching (NSM), an algorithm for reliable localization, using laser, in both urban and natural environments. Current state-of-the-art global approaches do not generalize well to structure-poor vegetated areas such as forests or orchards. In these environments clutter and perceptual aliasing prevents repeatable extraction of distinctive landmarks between different test runs. In natural forests, tree trunks are not distinctive, foliage intertwi...

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Publication status:
Published
Peer review status:
Peer reviewed
Version:
Accepted Manuscript

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Publisher copy:
10.1109/IROS.2018.8594042

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Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
Role:
Author
More by this author
Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
Role:
Author
More by this author
Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
Role:
Author
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Funding agency for:
Fallon, MF
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Grant:
RAIN and ORCA Robotics Hubs (EP/R026084/1 and EP/R026173/1)
Publisher:
IEEE Publisher's website
Pages:
8239-8246
Publication date:
2019-01-07
Acceptance date:
2018-06-29
DOI:
Pubs id:
pubs:909206
URN:
uri:d98c72aa-b690-49e3-a7ac-9904058c1962
UUID:
uuid:d98c72aa-b690-49e3-a7ac-9904058c1962
Local pid:
pubs:909206
ISBN:
978-1-5386-8094-0

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