Javascript verkar inte påslaget? - Vissa delar av Lunds universitets webbplats fungerar inte optimalt utan javascript, kontrollera din webbläsares inställningar.
Du är här

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

  • Jerker Nordh
  • Karl Berntorp
Publiceringsår: 2012
Språk: Engelska
Sidor: 151-156
Publikation/Tidskrift/Serie: 10th IFAC Symposium on Robot Control
Dokumenttyp: Konferensbidrag
Förlag: IFAC


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.


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


10th International IFAC Symposium on Robot Control
  • LCCC-lup-obsolete
  • ELLIIT-lup-obsolete
  • ISBN: 978-3-902823-11-3

Box 117, 221 00 LUND
Telefon 046-222 00 00 (växel)
Telefax 046-222 47 20
lu [at] lu [dot] se

Fakturaadress: Box 188, 221 00 LUND
Organisationsnummer: 202100-3211
Om webbplatsen