Robust self-localization method using sensor reliability map

Abstract

For autonomous mobile robots, self-localization is an important problem. In order to reduce the calculation cost for self-localization, we propose a self-localization method using the reliability map of sensory information in known environment. In past studies, we evaluated our proposed methods by the locatization experiment with a real-robot in a real environment, however, the verification was insufficient. In this paper, we evaluate our proposed methods by the localization experiment with a real-robot in various real environments.