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Chapter

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Title

Mobile Robot Localization: Where We Are and What Are the Challenges?

Authors

[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ P ] employee

Scientific discipline (Law 2.0)

[2.2] Automation, electronics and electrical engineering

Year of publication

2017

Chapter type

chapter in monograph / paper

Publication language

english

Keywords
EN
  • Mobile robot
  • Localization
  • SLAM
  • Vision
  • Estimation
Abstract

EN This article surveys recent developments in the area of mobile robot localization. The focus is on indoor 3-D localization from vision and RGB-D data. We analyze three important aspects of the architecture of localization systems: perception, representation of the obtained data, and estimation of the robot trajectory from the internal representation of the outer environment. We attempt also to identify challenges and open problems in the domain. The analysis is illustrated by extensive references to the selected literature, as this paper was also conceived as a guide for those researchers, who want to enter the fascinating realm of SLAM for the first time.

Pages (from - to)

249 - 267

DOI

10.1007/978-3-319-54042-9_23

URL

https://link.springer.com/chapter/10.1007/978-3-319-54042-9_23

Book

Automation 2017 : Innovations in Automation, Robotics and Measurement Techniques

Presented on

International Conference on Automation, ICA 2017, 15-17.03.2017, Warszawa, Polska

Ministry points / chapter

20

Publication indexed in

WoS (15)

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