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.
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.
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|Item Type:||Conference Paper|
|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:||10 Aug 2011 16:55|
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