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.
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|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|
|Last Modified:||14 Oct 2013 14:46|
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