Extending the Occupancy Grid Concept for Low-Cost Sensor Based SLAM
Författare
Summary, in English
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.
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.
Avdelning/ar
Publiceringsår
2012
Språk
Engelska
Sidor
151-156
Publikation/Tidskrift/Serie
10th IFAC Symposium on Robot Control
Fulltext
Länkar
Dokumenttyp
Konferensbidrag
Förlag
IFAC
Ämne
- Control Engineering
Nyckelord
- Rao-Blackwellized
- Mobile robots
- SLAM
- Particle filtering
- Kalman filtering
- Occupancy grids
Conference name
10th International IFAC Symposium on Robot Control
Conference date
2012-09-05
Conference place
Dubrovnik, Croatia
Status
Published
Forskningsgrupp
- LCCC
- ELLIIT
ISBN/ISSN/Övrigt
- ISBN: 978-3-902823-11-3