Robust global localization using laser reflectivity

Dongxiang Zhang, Ryo Kurazume, Yumi Iwashita, Tsutomu Hasegawa

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


Global localization, which determines an accurate global position without prior knowledge, is a fundamental requirement for a mobile robot. Map-based global localization gives a precise position by comparing a provided geometric map and current sensory data. Although 3D range data is preferable for 6D global localization in terms of accuracy and reliability, comparison with large 3D data is quite time consuming. On the other hand, appearance-based global localization, which determines the global position by comparing a captured image with recorded ones, is simple and suitable for real-time processing. However, this technique does not work in the dark or in an environment in which the lighting conditions change remarkably. We herein propose a two-step strategy, which combines map-based global localization and appearance-based global localization. Instead of camera images, which are used for appearance-based global localization, we use reflectance images, which are captured by a laser range finder as a byproduct of range sensing. The effectiveness of the proposed technique is demonstrated through experiments in real environments.

Original languageEnglish
Pages (from-to)38-52
Number of pages15
JournalJournal of Robotics and Mechatronics
Issue number1
Publication statusPublished - 2013

All Science Journal Classification (ASJC) codes

  • General Computer Science
  • Electrical and Electronic Engineering


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