Title :
Mobile Robot Localization Using Improved SIR Filters and Parametric Models of the Environment
Author :
Silva, Paulo R A ; Bruno, Marcelo G S
Author_Institution :
Inst. Tecnologico de Aeronaut., Sao Paulo
Abstract :
We introduce in this paper an improved particle filter for mobile robot localization using a parametric model of the environment. The proposed filter combines a clutter suppression routine for feature extraction with an optimized importance function and measurement-driven MCMC move steps. The filter is tested with both real and synthetic data and its performance is compared to competing algorithms found in the literature
Keywords :
clutter; feature extraction; matrix algebra; mobile robots; particle filtering (numerical methods); SIR filters; clutter suppression routine; feature extraction; mobile robot localization; particle filter; Feature extraction; Laser modes; Mobile robots; Motion measurement; Parametric statistics; Particle filters; Robot kinematics; Robot sensing systems; Sampling methods; Testing;
Conference_Titel :
Acoustics, Speech and Signal Processing, 2006. ICASSP 2006 Proceedings. 2006 IEEE International Conference on
Conference_Location :
Toulouse
Print_ISBN :
1-4244-0469-X
DOI :
10.1109/ICASSP.2006.1660579
