A modified particle filter for simultaneous robot localization and landmark tracking in an indoor environment

Hu, W., Downs, T., Wyeth, G.F., Milford, M. J. and Prasser, D. P. (2004). A modified particle filter for simultaneous robot localization and landmark tracking in an indoor environment. In: N. Barnes and D. Austin, Proceedings of the 2004 Australasian Conference on Robotics and Automation. The 2004 Australasian Conference on Robotics and Automation (ACRA 2004), Canberra, (1-7). 6-8 December, 2004.


Author Hu, W.
Downs, T.
Wyeth, G.F.
Milford, M. J.
Prasser, D. P.
Title of paper A modified particle filter for simultaneous robot localization and landmark tracking in an indoor environment
Conference name The 2004 Australasian Conference on Robotics and Automation (ACRA 2004)
Conference location Canberra
Conference dates 6-8 December, 2004
Proceedings title Proceedings of the 2004 Australasian Conference on Robotics and Automation
Place of Publication Canberra
Publisher Australian Robotics and Automation Association
Publication Year 2004
Sub-type Fully published paper
ISBN 0-9587583-6-0
Editor N. Barnes
D. Austin
Start page 1
End page 7
Total pages 7
Collection year 2004
Abstract/Summary This paper presents the implementation of a modified particle filter for vision-based simultaneous localization and mapping of an autonomous robot in a structured indoor environment. Through this method, artificial landmarks such as multi-coloured cylinders can be tracked with a camera mounted on the robot, and the position of the robot can be estimated at the same time. Experimental results in simulation and in real environments show that this approach has advantages over the extended Kalman filter with ambiguous data association and various levels of odometric noise.
Subjects E1
280209 Intelligent Robotics
780000 - Non-Oriented Research
Q-Index Code E1

 
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Created: Thu, 23 Aug 2007, 19:46:57 EST