Next Article in Journal
Dimension Reduction Aided Hyperspectral Image Classification with a Small-sized Training Dataset: Experimental Comparisons
Next Article in Special Issue
Analysis of Sources of Large Positioning Errors in Deterministic Fingerprinting
Previous Article in Journal
LSPR Coupling and Distribution of Interparticle Distances between Nanoparticles in Hydrogel on Optical Fiber End Face
Previous Article in Special Issue
Constructing an Indoor Floor Plan Using Crowdsourcing Based on Magnetic Fingerprinting
Article Menu
Issue 12 (December) cover image

Export Article

Open AccessArticle
Sensors 2017, 17(12), 2730; doi:10.3390/s17122730

A 2.5D Map-Based Mobile Robot Localization via Cooperation of Aerial and Ground Robots

Department of Mechatronics Engineering, Graduate School, Korea Polytechnic University, Si-Heung City 15073, Korea
Department of Mechatronics Engineering, Korea Polytechnic University, Si-Heung City 15073, Korea
Department of Computer Engineering, Gachon University, Sung-Nam 13120, Korea
Authors to whom correspondence should be addressed.
Received: 23 October 2017 / Revised: 22 November 2017 / Accepted: 22 November 2017 / Published: 25 November 2017


Recently, there has been increasing interest in studying the task coordination of aerial and ground robots. When a robot begins navigation in an unknown area, it has no information about the surrounding environment. Accordingly, for robots to perform tasks based on location information, they need a simultaneous localization and mapping (SLAM) process that uses sensor information to draw a map of the environment, while simultaneously estimating the current location of the robot on the map. This paper aims to present a localization method based in cooperation between aerial and ground robots in an indoor environment. The proposed method allows a ground robot to reach accurate destination by using a 2.5D elevation map built by a low-cost RGB-D (Red Green and Blue-Depth) sensor and 2D Laser sensor attached onto an aerial robot. A 2.5D elevation map is formed by projecting height information of an obstacle using depth information obtained by the RGB-D sensor onto a grid map, which is generated by using the 2D Laser sensor and scan matching. Experimental results demonstrate the effectiveness of the proposed method for its accuracy in location recognition and computing speed. View Full-Text
Keywords: SLAM; localization; ground robot; aerial robot; cooperation; low cost sensor; indoor SLAM; localization; ground robot; aerial robot; cooperation; low cost sensor; indoor

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Nam, T.H.; Shim, J.H.; Cho, Y.I. A 2.5D Map-Based Mobile Robot Localization via Cooperation of Aerial and Ground Robots. Sensors 2017, 17, 2730.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top