Tools
Sorted by:
Try your query at:
 |
 |
 |
 |
 |
 |
Results 1 - 10
of
50
EXPERIMENTAL VALIDATION OF FASTSLAM ALGORITHM CHARACTERIZED BY A LINEAR FEATURES BASED MAP
"... Abstract: In this paper the simultaneous localization and mapping problem in an unknown indoor environment is addressed. A probabilistic approach based on FastSLAM algorithm and line feature map is described. Experimental results performed with a smart wheelchair in an indoor environment are introdu ..."
Abstract
-
Cited by 3 (1 self)
- Add to MetaCart
Abstract: In this paper the simultaneous localization and mapping problem in an unknown indoor environment is addressed. A probabilistic approach based on FastSLAM algorithm and line feature map is described. Experimental results performed with a smart wheelchair in an indoor environment
FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem
- In Proceedings of the AAAI National Conference on Artificial Intelligence
, 2002
"... The ability to simultaneously localize a robot and accurately map its surroundings is considered by many to be a key prerequisite of truly autonomous robots. However, few approaches to this problem scale up to handle the very large number of landmarks present in real environments. Kalman filter-base ..."
Abstract
-
Cited by 599 (10 self)
- Add to MetaCart
-based algorithms, for example, require time quadratic in the number of landmarks to incorporate each sensor observation. This paper presents FastSLAM, an algorithm that recursively estimates the full posterior distribution over robot pose and landmark locations, yet scales logarithmically with the number
A NOVEL MOBILE ROBOT NAVIGATION METHOD BASED ON COMBINED FEATURE BASED SCAN MATCHING AND FASTSLAM ALGORITHM
, 2010
"... Approval of the thesis: ..."
FastSLAM 2.0: An improved particle filtering algorithm for simultaneous localization and mapping that provably converges
"... In [15], Montemerlo et al. proposed an algorithm called FastSLAM as an efficient and robust solution to the simultaneous localization and mapping problem. This paper describes a modified version of FastSLAM that overcomes important deficiencies of the original algorithm. We prove convergence of this ..."
Abstract
-
Cited by 225 (7 self)
- Add to MetaCart
In [15], Montemerlo et al. proposed an algorithm called FastSLAM as an efficient and robust solution to the simultaneous localization and mapping problem. This paper describes a modified version of FastSLAM that overcomes important deficiencies of the original algorithm. We prove convergence
A FastSLAM Algorithm for Omnivision
"... Abstract—Omnidirectional cameras have a wide field of view, which makes them specially suitable for Simultaneous Local-ization and Mapping (SLAM) tasks. In this paper, we present a proposal for SLAM based on the well-known FastSLAM algorithm [1]. Our approach uses omnivision to detect the lights pla ..."
Abstract
- Add to MetaCart
Abstract—Omnidirectional cameras have a wide field of view, which makes them specially suitable for Simultaneous Local-ization and Mapping (SLAM) tasks. In this paper, we present a proposal for SLAM based on the well-known FastSLAM algorithm [1]. Our approach uses omnivision to detect the lights
An Efficient FastSLAM Algorithm for Generating Maps of Large-Scale Cyclic . . .
- IN PROC. OF THE IEEE/RSJ INT. CONF. ON INTELLIGENT ROBOTS AND SYSTEMS (IROS
, 2003
"... The ability to learn a consistent model of its environment is a prerequisite for autonomous mobile robots. A particularly challenging problem in acquiring environment maps is that of closing loops; loops in the environment create challenging data association problems [9]. This paper presents a novel ..."
Abstract
-
Cited by 121 (21 self)
- Add to MetaCart
novel algorithm that combines RaoBlackwellized particle filtering and scan matching. In our approach scan matching is used for minimizing odometric errors during mapping. A probabilistic model of the residual errors of scan matching process is then used for the resampling steps. This way the number
Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM
, 2003
"... The Extended Kalman Filter (EKF) has been the de facto approach to the Simultaneous Localization and Mapping (SLAM) problem for nearly fifteen years. However, the EKF has two serious deficiencies that prevent it from being applied to large, realword environments: quadratic complexity and sensitivity ..."
Abstract
-
Cited by 126 (4 self)
- Add to MetaCart
by the EKF. In this paper, we will show that FastSLAM also substantially outperforms the EKF in environments with ambiguous data association. The performance of the two algorithms is compared on a real-world data set with various levels of odometric noise. In addition, we will show how negative information
Visual FastSLAM through Omnivision
- In Proceedings of the Towards Autonomous Robotic Systems (TAROS 09
, 2009
"... is still an open problem in mobile robotics. In this paper a SLAM algorithm using omnivision is presented. Omnidi-rectional cameras have a wide field of view, thus detecting landmarks over long distances, but this also requires a good data association. Our SLAM proposal is based on the well-known Fa ..."
Abstract
-
Cited by 1 (0 self)
- Add to MetaCart
-known FastSLAM algorithm [1]. Our main contributions are the features detection and their position estimation for an omnidirectional camera (bearing-only sensor), and also the data association process based on the Hungarian algorithm. The system has been tested on a Pioneer 3-DX robot equipped
Exploration with Active Loop-Closing for FastSLAM
, 2004
"... Acquiring models of the environment belongs to the fundamental tasks of mobile robots. In the last few years several researchers have focused on the problem of simultaneous localization and mapping (SLAM). Classic SLAM approaches are passive in the sense that they only process the perceived sensor d ..."
Abstract
-
Cited by 36 (2 self)
- Add to MetaCart
data and do not influence the motion of the mobile robot. In this paper we present a novel and integrated approach that combines autonomous exploration with simultaneous localization and mapping. Our method uses a grid-based version of the FastSLAM algorithm and at each point in time considers actions
Real Time Data Association for FastSLAM
- In: Proceedings of the IEEE Conference on Robotics and Autonomation, Taipeh
, 2003
"... The ability to simultaneously localise a robot and accurately map its surroundings is considered by many to be a key prerequisite of truly autonomous robots. This paper presents a real-world implementation of FastSLAM, an algorithm that recursively estimates the full posterior distribution of both r ..."
Abstract
-
Cited by 21 (2 self)
- Add to MetaCart
The ability to simultaneously localise a robot and accurately map its surroundings is considered by many to be a key prerequisite of truly autonomous robots. This paper presents a real-world implementation of FastSLAM, an algorithm that recursively estimates the full posterior distribution of both
Results 1 - 10
of
50
