DocumentCode
3279102
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
fYear
2010
fDate
3-5 Oct. 2010
Firstpage
159
Lastpage
164
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Machine and Web Intelligence (ICMWI), 2010 International Conference on
Conference_Location
Algiers
Print_ISBN
978-1-4244-8608-3
Type
conf
DOI
10.1109/ICMWI.2010.5647947
Filename
5647947
Link To Document