@inproceedings{dba78922996d450e83757d6cf290472d,
title = "Active monte carlo localization in outdoor terrains using multi-level surface maps",
abstract = "In this paper we consider the problem of active mobile robot localization with range sensors in outdoor environments. In contrast to passive approaches our approach actively selects the orientation of the laser range finder to improve the localization results. It applies a particle filter to estimate the full six-dimensional state of the robot. To represent the environment we utilize multi-level surface maps which allow the robot to represent vertical structures and multiple levels. To efficiently calculate the optimal orientation for the range scanner, we apply a clustering operation on the particles and only evaluate potential orientations based on these clusters. Experimental results obtained with a mobile robot in an outdoor environment indicate that the active control of the range sensor leads to more efficient localization results.",
author = "Rainer K{\"u}mmerle and Patrick Pfaff and Rudolph Triebel and Wolfram Burgard",
year = "2007",
doi = "10.1007/978-3-540-74764-2_5",
language = "English",
isbn = "9783540747635",
series = "Informatik aktuell",
publisher = "Kluwer Academic Publishers",
pages = "29--35",
booktitle = "Autonome Mobile Systeme 2007 - 20. Fachgesprach, AMS 2007",
note = "20. Fachgesprach Autonome Mobile Systeme, AMS 2007 - 20th Expert Discussion on Autonomous Mobile Systems, AMS 2007 ; Conference date: 18-12-2007 Through 19-12-2007",
}