Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
This paper presents a pose estimation method for mobile robots with vertical walls in urban areas. This proposed method exploits the fact that most of all artificial walls are built vertically. It corrects accumulative error of estimated poses by estimating the gravity vector with the fact without any 3d maps or 3d models. The poses which are estimated with vertical walls are integrated with integration of angle velocity from inertial sensors thorough extended Kalman filter. To evaluate the proposed method, outdoor experiments with an actual robot are performed. It shows the method keeps correcting accumulative error while the robot moves.
