Multi-sensor three-dimensional Monte Carlo localization for long-term aerial robot navigation

Francisco J Perez-Grau, Fernando Caballero, Antidio Viguria, Anibal Ollero
2017 International Journal of Advanced Robotic Systems  
This article presents an enhanced version of the Monte Carlo localization algorithm, commonly used for robot navigation in indoor environments, which is suitable for aerial robots moving in a three-dimentional environment and makes use of a combination of measurements from an Red,Green,Blue-Depth (RGB-D) sensor, distances to several radio-tags placed in the environment, and an inertial measurement unit. The approach is demonstrated with an unmanned aerial vehicle flying for 10 min indoors and
more » ... lidated with a very precise motion tracking system. The approach has been implemented using the robot operating system framework and works smoothly on a regular i7 computer, leaving plenty of computational capacity for other navigation tasks such as motion planning or control.
doi:10.1177/1729881417732757 fatcat:rbwwimbclfcfrd5huu3ytq23ci