DocumentCode
454991
Title
Mobile Robot Localization Using Improved SIR Filters and Parametric Models of the Environment
Author
Silva, Paulo R A ; Bruno, Marcelo G S
Author_Institution
Inst. Tecnologico de Aeronaut., Sao Paulo
Volume
3
fYear
2006
fDate
14-19 May 2006
Abstract
We introduce in this paper an improved particle filter for mobile robot localization using a parametric model of the environment. The proposed filter combines a clutter suppression routine for feature extraction with an optimized importance function and measurement-driven MCMC move steps. The filter is tested with both real and synthetic data and its performance is compared to competing algorithms found in the literature
Keywords
clutter; feature extraction; matrix algebra; mobile robots; particle filtering (numerical methods); SIR filters; clutter suppression routine; feature extraction; mobile robot localization; particle filter; Feature extraction; Laser modes; Mobile robots; Motion measurement; Parametric statistics; Particle filters; Robot kinematics; Robot sensing systems; Sampling methods; Testing;
fLanguage
English
Publisher
ieee
Conference_Titel
Acoustics, Speech and Signal Processing, 2006. ICASSP 2006 Proceedings. 2006 IEEE International Conference on
Conference_Location
Toulouse
ISSN
1520-6149
Print_ISBN
1-4244-0469-X
Type
conf
DOI
10.1109/ICASSP.2006.1660579
Filename
1660579
Link To Document