3D FieldLut Algorithm Based Indoor Localization for Planar Mobile Robots Using Kinect

摘要

The FieldLut algorithm is a widely used localization algorithm in the RoboCup MSL (Middle Size League). It is now used for indoor mobile robot localization, but it can only use 2D range data. This paper improves the FieldLut algorithm to allow the use of 3D range data for indoor localization and uses Kinect sensor as the input sensor. The core of our improvement is the creation of a 3D LUT (lookup table). The 3D LUT is created as a multi-layer 2D LUT. Additionally, a memory optimization method is proposed. Experimental result shows real-time performance at video rates and high accuracy; for example, using Kinect sensor, the localization error is below 15 cm in a 13 × 8 m room and the repeat localization is below 6 cm.