{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,2]],"date-time":"2026-04-02T02:06:31Z","timestamp":1775095591789,"version":"3.50.1"},"reference-count":69,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2008,3,1]],"date-time":"2008-03-01T00:00:00Z","timestamp":1204329600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2008,3]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper presents a novel method for localization of mobile robots in structured environments. The estimation of the position and orientation of the robot relies on the minimisation of the partial Hausdorff distance between ladar range measurements and a floor plan image of the building. The approach is employed in combination with an extended Kalman filter to obtain accurate estimates of the robot's position, heading and velocity. Good estimates of these variables were obtained during tests performed using a differential drive robot, thus demonstrating that the approach provides an accurate, reliable and computationally feasible alternative for indoor robot localization and autonomous navigation.<\/jats:p>","DOI":"10.1017\/s0263574707003657","type":"journal-article","created":{"date-parts":[[2007,7,12]],"date-time":"2007-07-12T10:11:48Z","timestamp":1184235108000},"page":"129-141","source":"Crossref","is-referenced-by-count":29,"title":["Mobile robot localization using the Hausdorff distance"],"prefix":"10.1017","volume":"26","author":[{"given":"F.","family":"Donoso-Aguirre","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"J.-P.","family":"Bustos-Salas","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.","family":"Torres-Torriti","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"A.","family":"Guesalaga","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2008,3,1]]},"reference":[{"key":"S0263574707003657_ref16","doi-asserted-by":"crossref","unstructured":"16. Crowley J. L. , Wallner F. and Schiele B. , \u201cPosition Estimation Using Principal Components of Range Data,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (1998) pp. 3128\u20133131.","DOI":"10.1109\/ROBOT.1998.680905"},{"key":"S0263574707003657_ref1","volume-title":"Probabilistic Robotics","author":"Thrun","year":"2005"},{"key":"S0263574707003657_ref37","unstructured":"37. Dellaert F. , \u201cA Sample of Monte Carlo Methods in Robotics and Vision,\u201d Proceedings of the ISM International Symposium on the Science of Modeling \u2014 The 30th Anniversary of the Information Criterion (2003) pp. 211\u2013222."},{"key":"S0263574707003657_ref67","doi-asserted-by":"publisher","DOI":"10.1109\/34.232073"},{"key":"S0263574707003657_ref65","unstructured":"65. Nguyen V. , Martinelli A. , Tomatis N. and Siegwart R. , \u201cA Comparison of Line Extraction Algorithms Using 2D Laser Rangefinder for Indoor Mobile Robotics,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (2005) pp. 1929\u20131934."},{"key":"S0263574707003657_ref68","doi-asserted-by":"publisher","DOI":"10.1117\/1.602576"},{"key":"S0263574707003657_ref63","doi-asserted-by":"crossref","unstructured":"63. Zhang L. and Ghosh B. K. , \u201cLine Segment Based Map Building and Localization Using 2D Laser Rangefinder,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (2000) pp. 2538\u20132543.","DOI":"10.1109\/ROBOT.2000.846410"},{"key":"S0263574707003657_ref61","doi-asserted-by":"crossref","unstructured":"61. Schultz A. C. and Adams W. , \u201cContinuous localization using evidence grids,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (1998) pp. 2833\u20132839.","DOI":"10.1109\/ROBOT.1998.680595"},{"key":"S0263574707003657_ref57","doi-asserted-by":"crossref","unstructured":"57. Rusinkiewicz S. and Levoy M. , \u201cEfficient Variants of the ICP Algorithm,\u201d Proceedings of the International Conference on 3D Digital Imaging and Modeling (2001) pp. 145\u2013152.","DOI":"10.1109\/IM.2001.924423"},{"key":"S0263574707003657_ref5","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087096"},{"key":"S0263574707003657_ref43","doi-asserted-by":"crossref","unstructured":"43. Moravec H. and Elfes A. , \u201cHigh Resolution Maps from Wide Angle Sonar,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (1985) pp. 116\u2013121.","DOI":"10.1109\/ROBOT.1985.1087316"},{"key":"S0263574707003657_ref56","doi-asserted-by":"publisher","DOI":"10.1007\/BF01427149"},{"key":"S0263574707003657_ref51","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008854305733"},{"key":"S0263574707003657_ref50","unstructured":"50. Lu F. and Milios E E , \u201cRobot Pose Estimation in Unknown Environments by Matching 2D Range Scans,\u201d Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition (1994) pp. 935\u2013938."},{"key":"S0263574707003657_ref49","first-page":"87","volume-title":"Principles of Visual Information Retrieval (Advances in Pattern Recognition)","author":"Veltkamp","year":"2006"},{"key":"S0263574707003657_ref48","doi-asserted-by":"crossref","unstructured":"48. Marchetti L. , Grisetti G. and Iocchi L. , \u201cA Comparative Analysis of Particle Filter Based Localization Methods,\u201d Proc. of RoboCup Symposium (2006).","DOI":"10.1007\/978-3-540-74024-7_44"},{"key":"S0263574707003657_ref22","doi-asserted-by":"publisher","DOI":"10.1109\/70.833191"},{"key":"S0263574707003657_ref20","unstructured":"20. Gutmann J. , Burgard W. , Fox D. and Konolige K. , \u201cAn Experimental Comparison of Localization Methods,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (1998) pp. 736\u2013743."},{"key":"S0263574707003657_ref34","doi-asserted-by":"crossref","first-page":"391","DOI":"10.1613\/jair.616","article-title":"Markov localization for mobile robots in dynamic environments","volume":"11","author":"Fox","year":"1999","journal-title":"J. Artif. Intell. Res."},{"key":"S0263574707003657_ref28","unstructured":"28. Simmons R. and Koenig S. , \u201cProbabilistic Robot Navigation in Partially Observable Environments,\u201d Proceedings of the International Joint Conference on Artificial Intelligence (1995)."},{"key":"S0263574707003657_ref47","unstructured":"47. Schaffer G. , Gonzalez J. and Stentz A. , \u201cComparison of Two Range-Based Pose Estimators for a Mobile Robot,\u201d Proceedings of the 1992 SPIE Conference on Mobile Robots (1992) pp. 661\u2013667."},{"key":"S0263574707003657_ref17","doi-asserted-by":"publisher","DOI":"10.1023\/A:1007975324482"},{"key":"S0263574707003657_ref21","doi-asserted-by":"crossref","unstructured":"21. Filliat D. and Meyer J.-A. , \u201cMap-based navigation in mobile robots. I. A review of localization strategies,\u201d Cogn. Syst. Res. 243\u2013282 (2003).","DOI":"10.1016\/S1389-0417(03)00008-1"},{"key":"S0263574707003657_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/34.982903"},{"key":"S0263574707003657_ref52","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(01)00163-4"},{"key":"S0263574707003657_ref58","doi-asserted-by":"publisher","DOI":"10.1016\/S0031-3203(03)00239-5"},{"key":"S0263574707003657_ref6","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4615-3652-9"},{"key":"S0263574707003657_ref66","volume-title":"Nonlinear Programming","author":"Bertsekas","year":"2004"},{"key":"S0263574707003657_ref40","doi-asserted-by":"crossref","unstructured":"40. Isard M. and Blake A. , \u201cContour Tracking by Stochastic Propagation of Conditional Density,\u201d Proceedings of European Conference on Computer Vision (1996) pp. 343\u2013356.","DOI":"10.1007\/BFb0015549"},{"key":"S0263574707003657_ref38","first-page":"107","article-title":"Novel approach to nonlinear\/Non-Gaussian Bayesian state estimation","volume":"140","author":"Gordon","year":"1993","journal-title":"IEE Proc. F"},{"key":"S0263574707003657_ref55","doi-asserted-by":"publisher","DOI":"10.1109\/34.121791"},{"key":"S0263574707003657_ref9","unstructured":"9. Weiss G. and Puttkamer E. , \u201cA Map Based on Laserscans Without Geometric Interpretation,\u201d Proceedings of the Intelligent Autonomous Systems. (1995) pp. 403\u2013407."},{"key":"S0263574707003657_ref62","unstructured":"62. Konolige K. and Chou K. , \u201cMarkov localization using correlation,\u201d Proceedings of the International Joint Conference on Articial Intelligence (1999) pp. 1154\u20131159."},{"key":"S0263574707003657_ref54","doi-asserted-by":"crossref","unstructured":"54. Minguez J. , Lamiraux F. and Montesano L. , \u201cMetric-Based Scan Matching Algorithms for Mobile Robot Displacement Estimation,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (2005) pp. 3557\u20133563.","DOI":"10.1109\/ROBOT.2005.1570661"},{"key":"S0263574707003657_ref42","volume-title":"Beyond the Kalman Filter: Particle Filters for Tracking Applications","author":"Ristic","year":"2004"},{"key":"S0263574707003657_ref36","volume-title":"Sequential Monte Carlo in Practice","author":"Fox","year":"2001"},{"key":"S0263574707003657_ref7","doi-asserted-by":"publisher","DOI":"10.1177\/027836402320556340"},{"key":"S0263574707003657_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/70.976024"},{"key":"S0263574707003657_ref25","doi-asserted-by":"crossref","unstructured":"25. Gutmann J.-S. and Schlegel C. , \u201cAmos: Comparison of Scan Matching Approaches for Self-localization in Indoor Environments,\u201d Proceedings of the 1st Euromicro Workshop on Advanced Mobile Robots (1996) pp. 61\u201367.","DOI":"10.1109\/EURBOT.1996.551882"},{"key":"S0263574707003657_ref12","unstructured":"12. Diosi A. and Kleeman L. , \u201cAdvanced Sonar and Laser Range Finder Fusion for Simultaneous Localization and Mapping,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (2004) pp. 1854\u20131859."},{"key":"S0263574707003657_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/70.75902"},{"key":"S0263574707003657_ref2","volume-title":"Computational Principles of Mobile Robotics","author":"Dudek","year":"2000"},{"key":"S0263574707003657_ref35","doi-asserted-by":"crossref","unstructured":"35. Dellaert F. , Fox D. , Burgard W. and Thrun S. , \u201cMonte Carlo Localization for Mobile Robots,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (1999) pp. 1322\u20131328.","DOI":"10.1109\/ROBOT.1999.772544"},{"key":"S0263574707003657_ref64","doi-asserted-by":"publisher","DOI":"10.1023\/B:JINT.0000038945.55712.65"},{"key":"S0263574707003657_ref59","unstructured":"59. Diosi A. and Kleeman L. , \u201cLaser Scan Matching in Polar Coordinates with Application to SLAM,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (2005) pp. 3317\u20133322."},{"key":"S0263574707003657_ref60","unstructured":"60. Weiss G. , Wetzler C. and Puttkamer E. , \u201cKeeping Track of Position and Orientation of Moving Indoor Systems by Correlation of Range-Finder Scans,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (1994) pp. 595\u2013601."},{"key":"S0263574707003657_ref10","unstructured":"10. Jensfelt P. and Christensen H. , \u201cLaser Based Position Acquisition and Tracking in an Indoor Environment,\u201d Proceedings of the IEEE International Symposium on Robotics and Automation (1998) pp. 331\u2013338."},{"key":"S0263574707003657_ref45","doi-asserted-by":"crossref","unstructured":"45. Gutmann J.-S. and Fox D. , \u201cAn Experimental Comparison of Localization Methods Continued,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (2002) pp. 454\u2013459.","DOI":"10.1109\/IRDS.2002.1041432"},{"key":"S0263574707003657_ref41","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008078328650"},{"key":"S0263574707003657_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2004.1310017"},{"key":"S0263574707003657_ref23","doi-asserted-by":"publisher","DOI":"10.1142\/9789814343138_0028"},{"key":"S0263574707003657_ref30","doi-asserted-by":"publisher","DOI":"10.1023\/A:1007554531242"},{"key":"S0263574707003657_ref46","unstructured":"46. Kristensen S. and Jensfelt P. , \u201cAn Experimental Comparison of Localisation Methods, the MHL Sessions,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (2003) pp. 992\u2013997."},{"key":"S0263574707003657_ref18","doi-asserted-by":"crossref","first-page":"475","DOI":"10.1109\/83.908541","article-title":"Two-dimensional object alignment based on robust oriented Hausdorff similarity measure","volume":"10","author":"Sim","year":"2001","journal-title":"IEEE Trans. Image Processing"},{"key":"S0263574707003657_ref24","doi-asserted-by":"publisher","DOI":"10.1016\/0921-8890(94)90023-X"},{"key":"S0263574707003657_ref26","doi-asserted-by":"crossref","unstructured":"26. Iocchi L. , Mastrantuono D. and Nardi D. , \u201cA Probabilistic Approach to Hough Localization,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (2001) pp. 4250\u20134255.","DOI":"10.1109\/ROBOT.2001.933282"},{"key":"S0263574707003657_ref53","doi-asserted-by":"crossref","unstructured":"53. Pfister S. T. , Kreichbaum K. L. , Roumeliotis S. I. and Burdick J.W. , \u201cWeighted range Sensor Matching Algorithms for Mobile Robot Displacement Estimation,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (2002) pp. 1667\u20131674.","DOI":"10.1109\/ROBOT.2002.1014782"},{"key":"S0263574707003657_ref27","first-page":"53","article-title":"DERVISH an office-navigating robot","volume":"16","author":"Nourbakhsh","year":"1995","journal-title":"AI Mag."},{"key":"S0263574707003657_ref3","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1097-4563(199704)14:4<231::AID-ROB2>3.0.CO;2-R"},{"key":"S0263574707003657_ref29","unstructured":"29. Kaelbling L. , Cassandra A. and Kurien J. , \u201cActing Under Uncertainty: Discrete Bayesian Models for Mobile-Robot Navigation,\u201d Proceedings of the IEEE\/RSJ International Conference Intelligent Robots and Systems (1996) pp. 963\u2013972."},{"key":"S0263574707003657_ref4","volume-title":"Autonomous Mobile Robots","author":"Iyengar","year":"1991"},{"key":"S0263574707003657_ref31","first-page":"1043","article-title":"Coastal navigation with mobile robots","volume":"12","author":"Roy","year":"1999","journal-title":"Adv. Neural Processing Syst."},{"key":"S0263574707003657_ref44","doi-asserted-by":"publisher","DOI":"10.1109\/70.964673"},{"key":"S0263574707003657_ref33","unstructured":"33. Burgard W. , Derr A. , Fox D. and Cremers A. B. , \u201cIntegrating Global Position Estimation and Position Tracking for Mobile Robots: The Dynamic Markov Localization Approach,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (1998) pp. 730\u2013735."},{"key":"S0263574707003657_ref39","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1080\/10618600.1996.10474692","article-title":"Monte Carlo filter and smoother for non-Gaussian nonlinear state space models","volume":"5","author":"Kitagawa","year":"1996","journal-title":"J. Comput. Graphical Statist."},{"key":"S0263574707003657_ref69","doi-asserted-by":"crossref","unstructured":"69. Taylor D. W. , Johnson P. N. and Faulkner W. T. , \u201cLocal Area Radio Navigation: A Tool for GPS-denied Geolocation,\u201d Proceedings of the SPIE-Aerosense Conf. (2003) Vol. 5084, pp. 125\u2013136.","DOI":"10.1117\/12.488138"},{"key":"S0263574707003657_ref14","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4615-4405-0"},{"key":"S0263574707003657_ref32","unstructured":"32. Burgard W. , Fox D. , Hennig D. and Schmidt T. , \u201cEstimating the Absolute Position of a Mobile Robot Using Position Probability Grids,\u201d Proceedings of the 14th National Conference on Artificial Intelligence (1996) pp. 896\u2013901."},{"key":"S0263574707003657_ref15","doi-asserted-by":"crossref","unstructured":"15. Chatila R. and Laumond J.-P. , \u201cPosition Referencing and Consistent World Modeling for Mobile Robots,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (1985) pp. 138\u2013145.","DOI":"10.1109\/ROBOT.1985.1087373"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574707003657","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,19]],"date-time":"2025-01-19T05:53:21Z","timestamp":1737266001000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574707003657\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2008,3]]},"references-count":69,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2008,3]]}},"alternative-id":["S0263574707003657"],"URL":"https:\/\/doi.org\/10.1017\/s0263574707003657","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2008,3]]}}}