Cloud-based Real-time Outsourcing Localization for a Ground Mobile Robot in Large-scale Outdoor Environments: Cloud-based Real-time Outsourcing Localization
文献类型：期刊论文
| 作者 | Xiaorui Zhu; Chunxin Qiu; Fucheng Deng; Yongsheng Ou |
| 刊名 | Journal of Field Robotics
 |
| 出版日期 | 2017 |
| 文献子类 | 期刊论文 |
| 英文摘要 | Cloud robotics is the application of cloud computing concepts to robotic systems. It utilizes modern cloud computing infrastructure to distribute computing resources and datasets. Cloud-based real-time outsourcing localization architecture is proposed in this paper to allow a ground mobile robot to identify its location relative to a road network map and reference images in the cloud. An update of the road network map is executed in the cloud, as is the extraction of the robot-terrain inclination (RTI) model as well as reference image matching. A particle filter with a network-delay-compensation localization algorithm is executed on the mobile robot based on the local RTI model and the recognized location both of which are sent from the cloud. The proposed methods are tested in different challenging outdoor scenarios with a ground mobile robot equipped with minimal onboard hardware, where the longest trajectory was 13.1 km. Experimental results show that this method could be applicable to large-scale outdoor environments for autonomous robots in real time. |
| URL标识 | 查看原文 |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/11730]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | Journal of Field Robotics |
| 推荐引用方式 GB/T 7714 | Xiaorui Zhu,Chunxin Qiu,Fucheng Deng,et al. Cloud-based Real-time Outsourcing Localization for a Ground Mobile Robot in Large-scale Outdoor Environments: Cloud-based Real-time Outsourcing Localization[J]. Journal of Field Robotics,2017. |
| APA | Xiaorui Zhu,Chunxin Qiu,Fucheng Deng,&Yongsheng Ou.(2017).Cloud-based Real-time Outsourcing Localization for a Ground Mobile Robot in Large-scale Outdoor Environments: Cloud-based Real-time Outsourcing Localization.Journal of Field Robotics. |
| MLA | Xiaorui Zhu,et al."Cloud-based Real-time Outsourcing Localization for a Ground Mobile Robot in Large-scale Outdoor Environments: Cloud-based Real-time Outsourcing Localization".Journal of Field Robotics (2017). |
入库方式： OAI收割
来源：深圳先进技术研究院
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。