Localization and place recognition using an ultra-wide band (UWB) radar
Takeuchi, Eijiro, Elfes, Alberto, & Roberts, Jonathan M. (2015) Localization and place recognition using an ultra-wide band (UWB) radar. In Mejias, Luis, Corke, Peter, & Roberts, Jonathan M. (Eds.) Field and Service Robotics : Results of the 9th International Conference, Springer International Publishing, Brisbane, Australia, pp. 275-288.
This paper presents an approach to mobile robot localization, place recognition and loop closure using a monostatic ultra-wide band (UWB) radar system. The UWB radar is a time-of-flight based range measurement sensor that transmits short pulses and receives reflected waves from objects in the environment. The main idea of the poposed localization method is to treat the received waveform as a signature of place. The resulting echo waveform is very complex and highly depends on the position of the sensor with respect to surrounding objects. On the other hand, the sensor receives similar waveforms from the same positions.Moreover, the directional characteristics of dipole antenna is almost omnidirectional. Therefore, we can localize the sensor position to find similar waveform from waveform database. This paper proposes a place recognitionmethod based on waveform matching, presents a number of experiments that illustrate the high positon estimation accuracy of our UWB radar-based localization system, and shows the resulting loop detection performance in a typical indoor office environment and a forest.
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|Item Type:||Conference Paper|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2015 Springer International Publishing Switzerland|
|Deposited On:||05 Mar 2015 00:04|
|Last Modified:||10 Mar 2015 01:34|
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