DocumentCode
3470122
Title
Bearing only mobile robots´ localization: Observability and formulation using SIS particle filters
Author
Mirabdollah, M.H. ; Mertsching, Barbel
Author_Institution
Fac. of Electr. Eng., Math. & Comput. Sci., Univ. of Paderborn, Paderborn, Germany
fYear
2011
fDate
3-5 March 2011
Firstpage
1
Lastpage
5
Abstract
In this paper the localization problem of mobile robots using bearing only measurement which is mostly used for mono vision robot, is investigated. Firstly the observability of the problem is discussed and then the position estimation of the robot using SIS particle filter is formulated. The performance of this method is discussed in comparison to the case that only range measurement is used and the case that both measurements are utilized.
Keywords
mobile robots; observability; particle filtering (numerical methods); position measurement; SIS particle filters; bearing only measurement; localization problem; mobile robots; mono vision robot; position estimation; range measurement; Equations; Estimation; Mathematical model; Mobile robots; Noise; Observability;
fLanguage
English
Publisher
ieee
Conference_Titel
Communications, Computing and Control Applications (CCCA), 2011 International Conference on
Conference_Location
Hammamet
Print_ISBN
978-1-4244-9795-9
Type
conf
DOI
10.1109/CCCA.2011.6031539
Filename
6031539
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