Title :
Using radius to improve robot localization and mapping
Author :
Rachid, Boutine ; Mohamed, Benmohamed
Author_Institution :
Dept. of Comput. Sci., 20 August 1955 Univ., Skikda, Algeria
Abstract :
In this work, we have tried to integrate the radius estimation, in the process of simultaneous localization and mapping. Our aim was the improvement of data association between circular natural landmark, and robot´s global map. And also, to demonstrate that, more we extract additional information from measurement, more the landmarks will be distinguishable; consequently, contributing to better locating the robot, and building the map of its environment.
Keywords :
SLAM (robots); feature extraction; position control; robot vision; sensor fusion; sensors; data association; radius estimation; robot localization; robot mapping; simultaneous localization and mapping; Equations; Estimation; Feature extraction; Mathematical model; Robot kinematics; Sensors; FastSlam; JCBB; Victoria park dataset; data association; particle filter;
Conference_Titel :
Machine and Web Intelligence (ICMWI), 2010 International Conference on
Conference_Location :
Algiers
Print_ISBN :
978-1-4244-8608-3
DOI :
10.1109/ICMWI.2010.5647947
