Estimating the Odometry Error of a Mobile Robot during Navigation
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This paper presents an experimental evaluation of different line extraction algorithms on 2D laser scans for indoor environment. Six popular algorithms in mobile robotics and computer vision are selected and tested. Experiments are performed on 100 real da ...
In this paper, we propose a particle filter acoustic direction-of-arrival (DOA) tracker to track multiple maneuvering targets using a state space approach. The particle filter determines its state vector using a batch of DOA estimates. The filter likelihoo ...
Institute of Electrical and Electronics Engineers2005
This paper presents a solution to the Simultaneous Localization and Mapping (SLAM) problem in the stochastic map framework for a mobile robot navigating in an indoor environment. The approach is based on the concept of the relative map. The idea consists i ...
The odometry error of a mobile robot contains both sys- tematic and non-systematic components. The first ones are independent of the environment while the second ones depend on the interaction of the robot with the environ- ment where the robot moves. In t ...
This paper presents an approach to solve the SLAM problem in the stochastic map framework based on the concept of the relative map. The idea consists in introducing a map state, which only contains quantities invariant under translation and rotation. This ...
Up to recently autonomous mobile robots were mostly designed to run within an indoor, yet partly structured and flat, environment. In rough terrain many problems arise and position tracking becomes more difficult. The robot has to deal with wheel slippage ...
This paper presents the design of an autonomous mobile platform and its security system. The MB835 mobile platform has been adopted for RoboX, a fully autonomous tour guide robot. In 2002, 11 of these tour guides have served the Robotics exhibition at Expo ...
This paper presents a solution to the Simultaneous Localization and Mapping (SLAM) problem in the stochastic map framework for a mobile robot navigating in an indoor environment. The approach is based on the concept of the relative map. The idea consists i ...
In this paper a hierarchical multi-resolution approach allowing for high precision and distinctiveness is presented. The method combines topological and metric paradigm. The metric approach, based on the Kalman Filter, uses a new concept to avoid the probl ...
Integrating visual and inertial sensors has become a common practice in navigation due to the increase in computer power, in algorithms advancement and in sensor improvements. One of the problems yet to be solved is the Simultaneous Localisation And Mappin ...