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Authors: Yuehan Jiang ; Aaronkumar Ehambram and Bernardo Wagner

Affiliation: Real Time Systems Group (RTS), Institute for Systems Engineering, Leibniz Universität Hannover, D-30167 Hannover, Germany

Keyword(s): Landmark-based Localization, Uncertainty Estimation, Interval Analysis, Factor Graph, Probabilistic Uncertainty.

Abstract: Being able to provide trustworthy localization for a robot in a map is essential for various tasks with safety-related requirements. In contrast to classical probabilistic approaches that represent the uncertainty as a Gaussian distribution, we use interval error bounds for the uncertainty estimation of a localization problem. To tackle and identify the limitations of probabilistic localization uncertainty estimation, we carry out comparison experiments between an interval-based method and a factor graph-based probabilistic method. Different measurement error models are propagated by the two methods to derive the robot pose uncertainty estimates. Results show that the probabilistic approach can provide very good pose uncertainty when there is no non-Gaussian systematic sensor error. However, if the measurements have unmodeled systematic errors, the interval approach is able to robustly contain the true poses whereas the probabilistic approach gives completely wrong results.

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Paper citation in several formats:
Jiang, Y.; Ehambram, A. and Wagner, B. (2022). Interval-based Robot Localization with Uncertainty Evaluation. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-585-2; ISSN 2184-2809, SciTePress, pages 296-303. DOI: 10.5220/0011143700003271

@conference{icinco22,
author={Yuehan Jiang. and Aaronkumar Ehambram. and Bernardo Wagner.},
title={Interval-based Robot Localization with Uncertainty Evaluation},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2022},
pages={296-303},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011143700003271},
isbn={978-989-758-585-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Interval-based Robot Localization with Uncertainty Evaluation
SN - 978-989-758-585-2
IS - 2184-2809
AU - Jiang, Y.
AU - Ehambram, A.
AU - Wagner, B.
PY - 2022
SP - 296
EP - 303
DO - 10.5220/0011143700003271
PB - SciTePress

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