Monte Carlo localization in hand-drawn maps

Bahram Behzadian; Pratik Agarwal; Wolfram Burgard; Gian Diego Tipaldi

IROS 2015poster42 citations

Monte Carlo localization in hand-drawn maps

Bahram Behzadian, Pratik Agarwal, Wolfram Burgard, Gian Diego Tipaldi

Abstract

Robot localization is one of the most important problems in robotics. Most of the existing approaches assume that the map of the environment is available beforehand and focus on accurate metrical localization. In this paper, we address the localization problem when the map of the environment is not present beforehand, and the robot relies on a hand-drawn map from a non-expert user. We addressed this problem by expressing the robot pose in the pixel coordinate and simultaneously estimate a local deformation of the hand-drawn map. Experiments show that we can successfully identify the room in which the robot is located in 80% of the tests.

BibTeX

@inproceedings{iros2015_montecarlolocali,
  title = {Monte Carlo localization in hand-drawn maps},
  author = {Bahram Behzadian and Pratik Agarwal and Wolfram Burgard and Gian Diego Tipaldi},
  booktitle = {IROS 2015},
  year = {2015}
}