On the position accuracy of mobile robot localization based on particle filters combined with scan matching

摘要

Many applications in mobile robotics and especially industrial applications require that the robot has a precise estimate about its pose. In this paper, we analyze the accuracy of an integrated laser-based robot pose estimation and positioning system for mobile platforms. For our analysis, we used a highly accurate motion capture system to precisely determine the error in the robot's pose. We are able to show that by combining standard components such as Monte-Carlo localization, KLD sampling, and scan matching, an accuracy of a few millimeters at taught-in reference locations can be achieved. We believe that this is an important analysis for developers of robotic applications in which pose accuracy matters.