1A1-E01 A Localization Method Using Gyro-assisted Odometry and 3D Laser Scanner Considering Gyro Drift Error

Abstract

In this paper, a localization method for an outdoor mobile robot is proposed. Our proposed method uses gyroassisted odometry and a 3D laser scanner; the gyro-assisted odometry provides highly accurate motion estimation and the wide view 3D laser scanner provides robust measurements. 3D point clouds obtained by the 3D laser scanner are projected onto 2D occupancy grid maps. The particle filter is employed to fuse the gyro-assisted odometry and 2D grid map matching. To address the issue of gyro drift, gyro bias is simultaneously estimated during localization. We carried out long distance navigation experiments in Real World Robot Challenge (Tsukuba Challenge 2009). Our robot with the proposed method successfully navigated the course of 1km.