Positional estimation of a mobile robot using edge visibility regions

Abstract

A technique is presented for estimating the position and pose of an autonomous mobile robot navigating in an outdoor, urban environment consisting of polyhedral buildings. The 3-D description of the roof tops of the buildings are assumed to be given as a world model. A discussion is presented of the uses of an intermediate representation of the environment, called the edge visibility regions (EVRs), in the positional estimation process.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>