Title :
Bayesian programming for topological global localization with fingerprints
Author :
Tapus, Adriana ; Heinzer, Stefan ; Siegwart, Roland
Author_Institution :
Autonomous Syst. Lab., Swiss Fed. Inst. of Technol., Lausanne, Switzerland
fDate :
26 April-1 May 2004
Abstract :
This work presents a localization algorithm for indoor environments. The environmental model is topological and the approach describes how a multimodal perception increases the reliability for the topological localization problem for mobile robots, by using the Bayesian programming formalism. For the topological framework the fingerprint concept is used. This type of representation permits a reliable and distinctive environment modeling. Experimental results of a mobile robot equipped with a multi sensor system composed of two 180° laser range finders and an omni-directional camera are reported.
Keywords :
belief networks; laser ranging; mobile robots; sensor fusion; 180° laser range finders; Bayesian programming; environmental model; fingerprint concept; mobile robots; multi sensor system; multimodal perception; omnidirectional camera; topological global localization; Bayesian methods; Cameras; Context modeling; Fingerprint recognition; Indoor environments; Mobile robots; Navigation; Robot programming; Robot sensing systems; Sensor systems;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1307214
