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This publication is part of the R&D project "Cognitive Personal Assistance for Social Environments (ACOGES)", reference PID2020-113096RB-I00, funded by MCIN/AEI/10.13039/501100011033. We would also like to thank M. Beteta and F. Rodriguez for previous contributions to this work.

Analysis of institutional authors

Puente Yusty, Paloma De LaAuthorLaserna Moratalla, JavierAuthor

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November 19, 2024
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AMCL hybrid localization through the incorporation of visual rectangular landmarks

Publicated to:2024 28th International Conference On Methods And Models In Automation And Robotics, Mmar 2024. 556-561 - 2024-01-01 (), DOI: 10.1109/MMAR62187.2024.10680758

Authors: Vega-Martínez, G; Moratalla, JL; de la Puente, P

Affiliations

Univ Politecn Madrid, Madrid, Spain - Author

Abstract

The increasing integration of robots into daily life requires enhanced autonomy capabilities and better levels of robustness. To address robot localization, this work proposes Hybrid AMCL, an extension of the original Adaptive Monte Carlo Localization (AMCL) algorithm, incorporating visual cues in the form of natural rectangles, usually present indoors, to overcome difficulties posed by scenarios lacking geometric features such as corridors. To this end, this work also introduces Rectangle Intersection-based Detector using Graphs and Elongation (RIDGE), a novel algorithm based on the idea of finding quadrilaterals in images, corresponding to real-world rectangles. The effectiveness of Hybrid AMCL is validated both in simulation using Isaac Sim and in a real-world environment. Our results show its potential for more accurate localization in challenging situations.

Keywords

AmclComputer visionParticle filterRectangle detectionRoRobot localizationRosShape detection

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Impact and social visibility

From the perspective of influence or social adoption, and based on metrics associated with mentions and interactions provided by agencies specializing in calculating the so-called "Alternative or Social Metrics," we can highlight as of 2025-07-25:

  • The use of this contribution in bookmarks, code forks, additions to favorite lists for recurrent reading, as well as general views, indicates that someone is using the publication as a basis for their current work. This may be a notable indicator of future more formal and academic citations. This claim is supported by the result of the "Capture" indicator, which yields a total of: 1 (PlumX).

Leadership analysis of institutional authors

There is a significant leadership presence as some of the institution’s authors appear as the first or last signer, detailed as follows: First Author (Vega-Martinez, German) and Last Author (Vega-Martinez, German).

the author responsible for correspondence tasks has been Vega-Martinez, German.