Localization of Outdoor Mobile Robots Using Curb Features in Urban Road Environments

<table class="table-group" id="tab1"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td align="left" rowspan="2">Candidates</td><td align="center" colspan="2">Mahalanobis distance</td><td align="center" rowspan="2">Class prediction</td></tr><tr class="thead"><td align="center">Curb class</td><td align="center">Noncurb class</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td align="left"><svg height="15.25" id="M136" style="vertical-align:-3.276pt" version="1.1" viewbox="0 0 19.924999 15.25" width="19.924999" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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l-110 215q-26 51 -44 63t-72 17l6 28h250l-6 -28l-27 -4q-30 -5 -35 -10t3 -27q17 -43 95 -190q70 78 154 185q15 21 10 29.5t-33 12.5l-30 4l5 28h236z" id="x1D44B"></path></g>
<g transform="matrix(.012,-0,0,-.012,13.525,15.187)"><path d="M384 0h-275v27q67 5 81.5 18.5t14.5 68.5v385q0 38 -7.5 47.5t-40.5 10.5l-48 2v24q85 15 178 52v-521q0 -55 14.5 -68.5t82.5 -18.5v-27z" id="x31"></path></g>
</svg> (R1, L1)</td><td align="center">0.0005</td><td align="center">163.4922</td><td align="center">True Curb</td></tr><tr><td align="left"><svg height="15.25" id="M137" style="vertical-align:-3.276pt" version="1.1" viewbox="0 0 19.924999 15.25" width="19.924999" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.112)"><path d="M775 650l-6 -28q-60 -6 -81.5 -16t-61.5 -54l-175 -191l125 -243q30 -58 48.5 -71t82.5 -19l-5 -28h-275l7 28l35 4q31 4 37 12t-6 34l-108 216q-140 -165 -177 -219q-16 -22 -10.5 -30.5t41.5 -13.5l22 -3l-7 -28h-244l8 28q52 4 75 15.5t67 52.5q48 46 206 231
l-110 215q-26 51 -44 63t-72 17l6 28h250l-6 -28l-27 -4q-30 -5 -35 -10t3 -27q17 -43 95 -190q70 78 154 185q15 21 10 29.5t-33 12.5l-30 4l5 28h236z" id="x1D44B"></path></g>
<g transform="matrix(.012,-0,0,-.012,13.525,15.187)"><path d="M412 140l28 -9q0 -2 -35 -131h-373v23q112 112 161 170q59 70 92 127t33 115q0 63 -31 98t-86 35q-75 0 -137 -93l-22 20l57 81q55 59 135 59q69 0 118.5 -46.5t49.5 -122.5q0 -62 -29.5 -114t-102.5 -130l-141 -149h186q42 0 58.5 10.5t38.5 56.5z" id="x32"></path></g>
</svg> (R1, L2)</td><td align="center">1.9779</td><td align="center">202.5195</td><td align="center">True Curb</td></tr><tr><td align="left"><svg height="15.4" id="M138" style="vertical-align:-3.39066pt" version="1.1" viewbox="0 0 19.924999 15.4" width="19.924999" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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l-110 215q-26 51 -44 63t-72 17l6 28h250l-6 -28l-27 -4q-30 -5 -35 -10t3 -27q17 -43 95 -190q70 78 154 185q15 21 10 29.5t-33 12.5l-30 4l5 28h236z" id="x1D44B"></path></g>
<g transform="matrix(.012,-0,0,-.012,13.525,15.187)"><path d="M285 378v-2q65 -13 102 -54.5t37 -97.5q0 -57 -30.5 -104.5t-74 -75t-85.5 -42t-72 -14.5q-31 0 -59.5 11t-40.5 23q-19 18 -16 36q1 16 23 33q13 10 24 0q58 -51 124 -51q55 0 88 40t33 112q0 64 -39 96.5t-88 32.5q-29 0 -64 -11l-6 29q77 25 118 57.5t41 84.5
q0 45 -26.5 69.5t-68.5 24.5q-67 0 -120 -79l-20 20l43 63q51 56 127 56h1q66 0 107 -37t41 -95q0 -42 -31 -71q-22 -23 -68 -54z" id="x33"></path></g>
</svg> (R2, L1)</td><td align="center">105.6307</td><td align="center">4.1180</td><td align="center">False Curb</td></tr><tr><td align="left"><svg height="15.25" id="M139" style="vertical-align:-3.276pt" version="1.1" viewbox="0 0 19.924999 15.25" width="19.924999" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.112)"><path d="M775 650l-6 -28q-60 -6 -81.5 -16t-61.5 -54l-175 -191l125 -243q30 -58 48.5 -71t82.5 -19l-5 -28h-275l7 28l35 4q31 4 37 12t-6 34l-108 216q-140 -165 -177 -219q-16 -22 -10.5 -30.5t41.5 -13.5l22 -3l-7 -28h-244l8 28q52 4 75 15.5t67 52.5q48 46 206 231
l-110 215q-26 51 -44 63t-72 17l6 28h250l-6 -28l-27 -4q-30 -5 -35 -10t3 -27q17 -43 95 -190q70 78 154 185q15 21 10 29.5t-33 12.5l-30 4l5 28h236z" id="x1D44B"></path></g>
<g transform="matrix(.012,-0,0,-.012,13.525,15.187)"><path d="M456 178h-96v-72q0 -51 12.5 -62.5t72.5 -16.5v-27h-256v27q65 5 78 17t13 62v72h-260v28q182 271 300 426h40v-407h96v-47zM280 225v295h-2q-107 -148 -196 -295h198z" id="x34"></path></g>
</svg> (R2, L2)</td><td align="center">110.2497</td><td align="center">3.2296</td><td align="center">False Curb</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Class prediction for pairs of curb candidates.

Mathematical Problems in Engineering

tab1

Table 1

Table 1: Localization of Outdoor Mobile Robots Using Curb Features in Urban Road Environments 