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

Jerker Nordh, Karl Berntorp

Forskningsoutput: Kapitel i bok/rapport/Conference proceedingKonferenspaper i proceedingPeer review

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Sammanfattning

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.
Originalspråkengelska
Titel på värdpublikation10th IFAC Symposium on Robot Control
FörlagIFAC
Sidor151-156
ISBN (tryckt)978-3-902823-11-3
DOI
StatusPublished - 2012
Evenemang10th International IFAC Symposium on Robot Control - Dubrovnik, Kroatien
Varaktighet: 2012 sep. 5 → …

Konferens

Konferens10th International IFAC Symposium on Robot Control
Land/TerritoriumKroatien
OrtDubrovnik
Period2012/09/05 → …

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