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

Hu, Wenyan, Downs, Tom, Wyeth, Gordon, Milford, Michael, & Prasser, David (2004) A modified particle filter for simultaneous robot localization and landmark tracking in an indoor environment. In Barnes, Nick & Austin, David (Eds.) 2004 Australasian Conference on Robotics and Automation, Australian Robotics and Automation Association Inc, Canberra.

View at publisher


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.

Impact and interest:

Search Google Scholar™

Citation counts are sourced monthly from Scopus and Web of Science® 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 the Google Scholar™ indexing service can be viewed at the linked Google Scholar™ search.

Full-text downloads:

131 since deposited on 22 Jun 2010
12 in the past twelve months

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.

ID Code: 32827
Item Type: Conference Paper
Refereed: Yes
Additional URLs:
ISBN: 0958758360
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)
Copyright Owner: Copyright 2004 [please consult the authors]
Deposited On: 22 Jun 2010 22:32
Last Modified: 25 Jun 2017 14:40

Export: EndNote | Dublin Core | BibTeX

Repository Staff Only: item control page