| 摘要 |
The invention concerns a method for localizing a robot in a localization plane associated with a bi-dimentional reference with two axis x and y comprising the following steps: determining (200) by odometry an estimation of the coordinates x1 and y1 of the robot as well as an estimation of its orientation ¸1; determining (202) an estimation ¸2 of the orientation of the robot by using a virtual compass; determining (204) an estimation ¸3 of the orientation of the robot by correlating parts of a reference panorama with parts of a query panorama ; determining (206) an estimation x4, y4 of the robot position by using an Iterative Closest Points technique ; determining the standard deviations Ã_x1, Ã_x2, Ã_¸1 Ã_¸2, Ã_¸3, Ã_x4, Ã_y4 of the aforementioned estimations ; determining (220) probability distributions G(x1), G(y1), G(¸1), G(¸2), G(¸3), G(x4) and G(y4) of each available estimation using said standard deviations ; determining (221) three global distributions GLOB(x), GLOB(y) and GLOB(¸) and determining a global estimation xg, yg of the coordinates of the robot in the localization plane as well as an global estimation ¸g of its orientation by applying maximum likelihood to the global distributions. |
