An improved probability density function for representing landmark positions in bearing-only SLAM systems
Huang, Henry, Maire, Frederic D., & Keeratipranon, Narongdech (2007) An improved probability density function for representing landmark positions in bearing-only SLAM systems. In Orgun, Mehmet A. & Thornton, John (Eds.) 20th Australian Joint Conference on Artificial Intelligence - AI 2007: Advances in Artificial Intelligence, 2-6 December, 2007, Gold Coast, Queensland, Australia.
To navigate successfully, a mobile robot must be able to estimate the spatial relationships of the objects of interest in its environment accurately. The main advantage of a bearing-only Simultaneous Localization and Mapping (SLAM) system is that it requires only a cheap vision sensor to enable a mobile robot to gain knowledge of its environment and navigate. In this paper, we focus on the representation of the spatial uncertainty of landmarks caused by sensor noise. We follow a principled approach for computing the Probability Density Functions (PDFs) of landmark positions when an initial observation is made. We characterize the PDF p(r,a) of a landmark position expressed in polar coordinates when r and a are independent, and the marginal probability p(r) of the PDF is constrained to be uniform.
Impact and interest:
Citation counts are sourced monthly from and citation databases.
These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.
Citations counts from theindexing service can be viewed at the linked Google Scholar™ search.
Full-text downloads displays the total number of times this work’s files (e.g., a PDF) have been downloaded from QUT ePrints as well as the number of downloads in the previous 365 days. The count includes downloads for all files if a work has more than one.
|Item Type:||Conference Paper|
|Keywords:||Bearing, only SLAM, Probability Density Function|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Past > QUT Faculties & Divisions > Faculty of Science and Technology
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2007 Springer|
|Copyright Statement:||This is the author-version of the work. Conference proceedings published, by Springer Verlag, will be available via SpringerLink. http://www.springer.de/comp/lncs/ Lecture Notes in Computer Science|
|Deposited On:||27 Feb 2008 00:00|
|Last Modified:||14 Oct 2013 04:46|
Repository Staff Only: item control page