ArticleSensors (Basel, Switzerland)2020
Mobile Robot Self-Localization with 2D Push-Broom LIDAR in a 2D Map.
Article in Sensors (Basel, Switzerland), 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 8 papers.
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The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
8 citing papers in PubMed.
- Path Planning of a Mobile Delivery Robot Operating in a Multi-Story Building Based on a Predefined Navigation Tree.Sensors (Basel, Switzerland) · 2023Article
- SLAMICP Library: Accelerating Obstacle Detection in Mobile Robot Navigation via Outlier Monitoring following ICP Localization.Sensors (Basel, Switzerland) · 2023Article
- Enhancing the Sense of Attention from an Assistance Mobile Robot by Improving Eye-Gaze Contact from Its Iconic Face Displayed on a Flat Screen.Sensors (Basel, Switzerland) · 2022Article
- Evaluation of the Path-Tracking Accuracy of a Three-Wheeled Omnidirectional Mobile Robot Designed as a Personal Assistant.Sensors (Basel, Switzerland) · 2021Article
- Improving the Angular Velocity Measured with a Low-Cost Magnetic Rotary Encoder Attached to a Brushed DC Motor by Compensating Magnet and Hall-Effect Sensor Misalignments.Sensors (Basel, Switzerland) · 2021Article
- A Lightweight Localization Strategy for LiDAR-Guided Autonomous Robots with Artificial Landmarks.Sensors (Basel, Switzerland) · 2021Article
- Robotic Sensing and Systems for Smart Cities.Sensors (Basel, Switzerland) · 2021Article
- Suboptimal Omnidirectional Wheel Design and Implementation.Sensors (Basel, Switzerland) · 2021Article
Corrections and comments
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Authors and funding
4 authors.
Funding
Abstract
This paper proposes mobile robot self-localization based on an onboard 2D push-broom (or tilted-down) LIDAR using a reference 2D map previously obtained with a 2D horizontal LIDAR. The hypothesis of this paper is that a 2D reference map created with a 2D horizontal LIDAR mounted on a mobile robot or in another mobile device can be used by another mobile robot to locate its location using the same 2D LIDAR tilted-down. The motivation to tilt-down a 2D LIDAR is the direct detection of holes or small objects placed on the ground that remain undetected for a fixed horizontal 2D LIDAR. The experimental evaluation of this hypothesis has demonstrated that self-localization with a 2D push-broom LIDAR is possible by detecting and deleting the ground and ceiling points from the scan data, and projecting the remaining scan points in the horizontal plane of the 2D reference map before applying a 2D self-location algorithm. Therefore, an onboard 2D push-broom LIDAR offers self-location and accurate ground supervision without requiring an additional motorized device to change the tilt of the LIDAR in order to get these two combined characteristics in a mobile robot.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.