Localisation for the RESOLV project
	The localisation system computes the robot position and orientation on the plane from the range data acquired with the Laser Scanner. Two different algorithms were developed for localisation: the first algorithm uses feature extraction and doesn't require any initial robot posture estimate. The second algorithm uses natural landmark detection. It requires an initial estimate, yielding a refined posture estimate. The initial values may be obtained from the odometry data, the output of the first algoritihm or any external source, whichever is available. The accuracy lies within a 3cm and 0.2º error boundary, in typical house environments.
	To know more about the localisation system, download the papers in the publication list or browse the on-line presentations on the papers I presented. Prototype of the acquisition system
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©1998 João Gomes Mota