Localization Algorithm using Virtual Label for a Mobile Robot in Indoor and Outdoor Environment

The scanning laser range sensors provide range data consisting of a set of point-measurements. The laser sensor (URG-04LX) has a distance range of approximately 0.02 to 4 meter and scanning angle range 240 degrees. Usually, such a range image is acquired from one view-point by "moving" the laser beam using rotating mirrors/prisms. The orientation of the laser beam can be easily measured and converted into coordinates of the image. This paper conducts localization using virtual labels with environment distance data gotten from the 2D distance laser sensors. This method puts virtual labels on special feature and points which is on the way of mobile robot path. The current location is calculated by combining the virtual label and the range image of laser range finder.