The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper presents a map based robot navigation and localization algorithm using laser range finder for indoor environments. A navigation path is given by the sequence of grids and global map information is represented by the list of vertexes. The grid based navigation facilities path planning as well as complements localization with priori information of the grid sequence. The pattern of vertexes...
Simultaneous Localization and Mapping (SLAM) addresses the problem of a robot navigating and acquiring spatial models of initially unknown environments, without an absolute localization means. To solve this problem, we propose a mapping system that builds feature-based geometrical maps by applying a modified Particle Swarm Optimization (PSO) algorithm. Particles are defined as the location of individual...
The problem of place recognition appears in different mobile robot navigation problems including localization, SLAM, or change detection in dynamic environments. Whereas this problem has been studied intensively in the context of robot vision, relatively few approaches are available for three-dimensional range data. In this paper, we present a novel and robust method for place recognition based on...
We describe a localization and map building approach for a mobile robot which employs an annotated generalized Voronoi graph as its representation of the environment. The core of our approach is a matching scheme for solving the data association problem of identifying corresponding parts in a locally perceived Voronoi graph and the graph making up the robot's map. We employ an edit distance approach...
This paper proposes an implementation of Fast-SLAM for localization and mapping for an indoor environment. The system use only the bearing information retrieved from an omnidirectional camera via vertical line segments which are common in an indoor environment. The real world experiment is also presented using Pioneer-DX3 mobile robot moving in a room with several objects.
This paper proposes an efficient dynamic localization algorithm in the active beacon sensor space for the precise localization of a mobile robot. The design and implementation of the localization system is based on the use of active beacon systems, each of which is composed of an RFID receiver and an ultrasonic transmitter. The RFID receiver obtains the synchronization signal from the mobile robot...
Mapping and localization play important roles for autonomous mobile robots. Since most of the conventional mapping methods assume static environment, the obtained map lacks reliability of localization when the assumption does not hold in the real environment. Additionally, when a robot wants to do some tasks (such as, open doors, push cabinets, etc.) during SLAM process, the robot need localize the...
This paper presents a novel mobile robot localization method based on radio interference. The proposed approach determines the position of a mobile robot not according to radio signal strength but phase differences measured in different receiving places of radio interference signals, which are generated by the superposition in space of two unmodulated radio waves. The main features of this method...
In the simultaneous localization and mapping (SLAM) problem, a mobile robot must build a map of its environment while simultaneously determining its location within that map. We propose a new algorithm, for visual SLAM (VSLAM), in which the robot's only sensory information is video imagery. Our approach combines stereo vision with a popular sequential Monte Carlo (SMC) algorithm, the Rao-Blackwellised...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.