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A comparison of position estimation techniques using occupancygrids (1994)
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| Venue: | in Proceedings of IEEE Conference on Robotics and Automation (ICRA |
| Citations: | 115 - 2 self |
BibTeX
@INPROCEEDINGS{Schiele94acomparison,
author = {Bernt Schiele and James L. Crowley},
title = {A comparison of position estimation techniques using occupancygrids},
booktitle = {in Proceedings of IEEE Conference on Robotics and Automation (ICRA},
year = {1994},
pages = {1628--1634}
}
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Abstract
Abstract. This paper addresses the problem of perception and localisation for a mobile robot in an unknown environment. It describes a modelling of the environment based on two certainty grids: one local model and the other one a global model. Localisation of the robot is reduced to nding the best alignment of the local certainty grid onto the global certainty grid. Four localisation procedures to correct the robot position are introduced. First experimental results show the capacity of the method. 1
