University of California, Riverside

Department of Electrical and Computer Engineering



Analysis and Optimization of the Accuracy of Mobile Robot Localization


Analysis and Optimization of the Accuracy of Mobile Robot Localization
 

by

Dr. Anastasios Mourikis
University of Minnesota

When: Thursday, March 20, 2008
Time: 1:00 p.m. – 2:00 p.m.
Location: EBU 2 RM 205

Abstract:

Robot localization is the task of estimating the position and orientation of a robot using measurements from its onboard sensors. Accurate localization is a prerequisite for reliable operation of autonomous vehicles, and therefore a considerable body of research has focused on the development of robust, real-time localization algorithms. However, despite the significant progress in terms of system and algorithm design,very little work has focused on analytically characterizing and optimizing the accuracy of robot localization. In the first part of the talk I will present recent theoretical results, which describe the accuracy of robot localization as a closed-form function of the system parameters. These results make it possible to analytically predict the accuracy of localization, and can serve as valuable tools for designing robot systems. In the second part of the talk, I will show how the analytical characterization of performance can serve as a basis for optimizing the accuracy of localization. A novel localization algorithm will be described, and its application for car navigation will be illustrated. Finally, current and future directions of research will be outlined.

About the Speaker:

Anastasios Mourikis received the Diploma of Electrical and Computer Engineering with honors from the University of Patras, Greece in 2003. He is currently a PhD candidate at the Department of Computer Science and Engineering (CSE) at the University of Minnesota. His research interests lie in the areas of localization in single- and multi-robot systems, vision-aided inertial navigation, distributed estimation in sensor networks, and structure from motion. He is the recipient of the 2005 and 2006 Excellence in Research Award Fellowships from the CSE Department of the University of Minnesota, and of the 2007-2008 Doctoral Dissertation Fellowship from the University of Minnesota.

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Electrical and Computer Engineering
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University of California, Riverside
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