Range-only (RO) localization involves determining the position of a mobile robot by measuring the distance to specific anchors. RO localization is challenging since the measurements are low-dimensional and a single range sensor does not have enough information to estimate the full pose of the robot. As such, range sensors are typically coupled with other sensing modalities such as wheel encoders or inertial measurement units (IMUs) to estimate the full pose. In this work, we propose a continuous-time Gaussian process (GP)- based trajectory estimation method to estimate the full pose of a robot using only range measurements from multiple range sensors. Results from simulation and real experiments show that our proposed method, using off-the-shelf range sensors, is able to achieve comparable performance and in some cases outperform alternative state-of-the-art sensor-fusion methods that use additional sensing modalities.
翻译:仅距离(RO)定位包括通过测量到特定锚点的距离来确定移动机器人的位置。由于RO定位的测量是低维的,而单个距离传感器没有足够的信息来估计机器人的完整姿态,因此通常将距离传感器与其他感知方式(例如轮子编码器或惯性测量单元(IMU))相结合来估计完整姿态。在这项工作中,我们提出了基于连续时间高斯过程(GP)的轨迹估计方法,仅使用多个距离传感器的距离测量来估计机器人的完整姿态。模拟和实验结果表明,我们所提出的方法使用现成的距离传感器能够实现与在某些情况下优于使用其他感知方式的替代最先进的传感器融合方法相当的性能。