In this paper we consider long-term navigation using fixed 2D LIDARs. We consider how localization algorithms based on scan-matching – commonly used in indoor environments – are prone to failure when exposed to a challenging real-world outdoor environment. The driving motivation behind this work is to produce a simple, robust system that can be utilized repeatedly over a long period, rather than being forced to repeatedly map the working environment.



  • [PDF] I. Baldwin and P. Newman, “Laser-only road-vehicle localization with dual 2D push-broom LIDARS and 3D priors,” in Proc.IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Vilamoura, Algarve, Portugal, 2012.
    [Bibtex]

    @inproceedings{BaldwinIROS2012,
    Address = {Vilamoura, Algarve, Portugal},
    Author = {Ian Baldwin and Paul Newman},
    Booktitle = {Proc.IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
    Keywords = {2D Laser Navigation},
    Month = {October},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2012IROS_ib.pdf},
    Title = {Laser-only road-vehicle localization with dual 2D push-broom LIDARS and 3D priors},
    Year = {2012}}