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Extending the Occupancy Grid Concept for Low-Cost Sensor Based SLAM

Publiceringsår: 2012
Språk: Engelska
Sidor: 151-156
Dokumenttyp: Konferensbidrag


The simultaneous localization and mapping problem is approached by using an
ultrasound sensor and wheel encoders. To be able to account for the low precision inherent in ultrasound sensors, the occupancy grid notion is extended. The extension takes into consideration with which angle the sensor is pointing, to compensate for the issue that an object is not necessarily detectable from all position due to deficiencies in how ultrasonic range sensors work. Also, a mixed linear/nonlinear model is derived for future use in Rao-Blackwellized
particle smoothing.



  • Technology and Engineering
  • Rao-Blackwellized
  • Mobile robots
  • SLAM
  • Particle filtering
  • Kalman filtering
  • Occupancy grids


10th International IFAC Symposium on Robot Control
Dubrovnik, Croatia
  • LCCC

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