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Accurate Localization with Respect to Moving Objects via Multiple-Body Registration
Jorg Rowekamper, Benjamin Suger, Wolfram Burgard, Gian Diego Tipaldi
Proc.~of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS)
2015
roewekaemper15iros.pdf
Notes:
Many mobile manipulation tasks require the robot
to be accurately localized with respect to the object where
the manipulation has to be executed. These tasks include
autonomous docking and positioning as well as pick and place
or logistics tasks. State-of-the-art approaches to the problem
commonly assume that the environment is static and localize
the robot with respect to predetermined locations. In this paper,
we present an approach that relaxes the static assumption and
enables a robot to accurately localize with respect to a reference
object that could be moved in the environment. The core of the
paper is an extension of the generalized ICP method to handle
multiple rigid bodies that move independently to each others.
Experiments in both simulated and real world scenarios show
that our approach is able to localize the robot with respect to
a moved object with an accuracy of less than one centimeter.
BibTeX:
@inproceedings{roewekaemper15iros,
author = {J\"org R\"owek\"amper and Benjamin Suger and Wolfram Burgard and Gian Diego Tipaldi},
title = {Accurate Localization with Respect to Moving Objects via Multiple-Body Registration},
booktitle = {Proc.~of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS)},
year = 2015,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/roewekaemper15iros.pdf}
}
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