@inproceedings{e139e2fc361f4dfaaeff9a627557c0eb,
title = "Humanoid robot localization based on hybrid map",
abstract = "In this paper we present a hybrid map based localization method for humanoid robot. A indoor hybrid map is created by a humanoid robot NAO with a camera and a laser range finder. A global topological map is constructed by natural landmarks, and local metrical maps are established using improved Rao-Blackwellized particle filter. In addition, we set up auxiliary semantic layer based on QR code. and a unified framework of semantic-topological-metric hybrid map is set up. An accurate localization result was obtained by combine a global localization based on topological map and local positioning using KLD-MCL, Experiments shows the method can meet the requirements of indoor localization for a humanoid robot.",
keywords = "Humanoid robot, KLD-MCL, global localization, metrical map, topological map",
author = "Xiandong Xu and Bingrong Hong and Yi Guan",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 International Conference on Security, Pattern Analysis, and Cybernetics, SPAC 2017 ; Conference date: 15-12-2017 Through 17-12-2017",
year = "2017",
month = jul,
day = "2",
doi = "10.1109/SPAC.2017.8304331",
language = "英语",
series = "2017 International Conference on Security, Pattern Analysis, and Cybernetics, SPAC 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "509--514",
booktitle = "2017 International Conference on Security, Pattern Analysis, and Cybernetics, SPAC 2017",
address = "美国",
}