Cloud-based Real-time Outsourcing Localization for a Ground Mobile Robot in Large-scale Outdoor Environments: Cloud-based Real-time Outsourcing Localization

	Cloud-based Real-time Outsourcing Localization for a Ground Mobile Robot in Large-scale Outdoor Environments: Cloud-based Real-time Outsourcing Localization
	Xiaorui Zhu; Chunxin Qiu; Fucheng Deng; Yongsheng Ou
刊名	Journal of Field Robotics
	2017
文献子类	期刊论文
英文摘要	Cloud robotics is the application of cloud computing concepts to robotic systems. It utilizes modern cloud computing infrastructure to distribute computing resources and datasets. Cloud-based real-time outsourcing localization architecture is proposed in this paper to allow a ground mobile robot to identify its location relative to a road network map and reference images in the cloud. An update of the road network map is executed in the cloud, as is the extraction of the robot-terrain inclination (RTI) model as well as reference image matching. A particle filter with a network-delay-compensation localization algorithm is executed on the mobile robot based on the local RTI model and the recognized location both of which are sent from the cloud. The proposed methods are tested in different challenging outdoor scenarios with a ground mobile robot equipped with minimal onboard hardware, where the longest trajectory was 13.1 km. Experimental results show that this method could be applicable to large-scale outdoor environments for autonomous robots in real time.
URL标识	查看原文
语种	英语
内容类型	期刊论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/11730]
专题	深圳先进技术研究院_集成所
作者单位	Journal of Field Robotics
推荐引用方式 GB/T 7714	Xiaorui Zhu,Chunxin Qiu,Fucheng Deng,et al. Cloud-based Real-time Outsourcing Localization for a Ground Mobile Robot in Large-scale Outdoor Environments: Cloud-based Real-time Outsourcing Localization[J]. Journal of Field Robotics,2017.
APA	Xiaorui Zhu,Chunxin Qiu,Fucheng Deng,&Yongsheng Ou.(2017).Cloud-based Real-time Outsourcing Localization for a Ground Mobile Robot in Large-scale Outdoor Environments: Cloud-based Real-time Outsourcing Localization.Journal of Field Robotics.
MLA	Xiaorui Zhu,et al."Cloud-based Real-time Outsourcing Localization for a Ground Mobile Robot in Large-scale Outdoor Environments: Cloud-based Real-time Outsourcing Localization".Journal of Field Robotics (2017).