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Author Xuefeng Dai ♦ Dan Lv ♦ Shudong Liu ♦ Yan Shi
Sponsorship IEEE ♦ ICIC Int. ♦ National Natural Sci. Found. of China ♦ Beijing Jiaotong Univ. ♦ Kaosiung Univ. of Appl. Sci
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2006
Language English
Subject Domain (in DDC) Computer science, information & general works ♦ Data processing & computer science
Subject Keyword Navigation ♦ SLAM ♦ Computational modeling ♦ Object oriented modeling ♦ Kalman filter ♦ Covariance matrix ♦ object-oriented ♦ data association ♦ Mobile robots ♦ MATLAB ♦ extended ♦ Simultaneous localization and mapping ♦ feature extraction ♦ Numerical simulation ♦ Robot sensing systems ♦ Mathematical model
Abstract In this paper, an effective simulation system is proposed for wheeled mobile robots to verify simultaneous localization and mapping algorithms. Its components and function are described in detail. In map building, a line-based representation of the environment is adopted. Line parameters are extracted from range scans, and the corresponding covariance matrices are computed from the statistical characteristics of the raw data. The simulation system makes the design of algorithms less depend on each others and be easily used to test new algorithms. The proposed scheme is validated through numerical simulations
Description Author affiliation: Inst. of Robotics, Qiqihar Univ. (Xuefeng Dai; Dan Lv; Shudong Liu)
ISBN 0769526160
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2006-08-30
Publisher Place China
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 152.76 kB
Page Count 4
Starting Page 233
Ending Page 236

Source: IEEE Xplore Digital Library