Curb feature based localization of a mobile robot in urban road environments

摘要

Urban road environments that have pavement and curb are characterized as semi-structured road environments. In semi-structured road environments, the curb provides useful information for robot navigation. In this paper, we present a practical localization method for outdoor mobile robots using the curb features in semi-structured road environments. The curb features are especially useful in urban environment, where the GPS failures take place frequently. A curb extraction is conducted on the basis of the Kernel Fisher Discriminant Analysis (KFDA) to minimize false detection. We adopt the Extended Kalman Filter (EKF) to combine the curb information with odometry and Differential Global Positioning System (DGPS). The uncertainty models for the sensors are quantitatively analyzed to provide a practical solution.