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Experimental study of the precision of a multi-map AMCL-based localization system

Gaëtan Garcia 1, 2 Salvador Domínguez-Quijada 2, 1 Jean Marc Blosseville Arnaud Hamon 2, 1 Xavier Koreki 2, 1 Philippe Martinet 1, 2, 3
3 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE, CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique
Abstract : Autonomous navigation on the public road network , in particular in urban and semi-urban areas, requires a precise localization system, with a wide coverage and suitable for long distances. Moreover, the system must be adapted to higher speed, as compared to usual indoor mobile robots. Conventional GPS is not precise enough to satisfy the requirements. In addition, GPS suffers from signal fading and multi-path (signal reflections on nearby surfaces), very common in urban environments because of the buildings. This paper shows the methodology and statistical results of performance, over nearly 100 km, of the localization system developed at LS2N based on the classical probabilistic Monte Carlo localization, adapted for multiple maps. The environments under study are urban and suburban roads.
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Gaëtan Garcia, Salvador Domínguez-Quijada, Jean Marc Blosseville, Arnaud Hamon, Xavier Koreki, et al.. Experimental study of the precision of a multi-map AMCL-based localization system. 9th Workshop on Planning, Perception and Navigation for Intelligent Vehicle, Sep 2017, Vancouver, Canada. ⟨hal-02440155⟩

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