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In this paper we describe the simulative evaluation of a Multi Laser Tracking System (MLTS) to be used for relative position estimation of Autonomous Underwater Vehicles (AUV). Based on the parameters of an existing MLTS for land applications, we build up a simulation with two AUVs that perform range and bearing measurements between each other. On the base of these measurements that are disturbed...
Future distributed applications will combine mobile and stationary sensor actuator entities as part of smart environments. Hence, a various number of intelligent sensor systems and sensor types will be available for mobile robots. We designed a programming abstraction - the Smart Abstract Entity - to deal with the diversity of data formats, measurement units, individual uncertainties, etc., in such...
A method is presented for automated localization of a laser scanner in indoor environments by matching planar features extracted from range data. Plane correspondences are used in a linear least-squares adjustment model to estimate the relative scanner positions in consecutive scans. The performance of the method is demonstrated using two datasets of building interiors. Accuracy assessment of the...
This work develops an algorithm to initialize an Unscented Kalman Filter using a Particle Filter for applications with initial non-Gaussian probability density functions. The method is applied to estimating the position of a road vehicle along a one-mile test track and 7 kilometer span of a highway using terrain-based localization where the pitch response of the vehicle is compared to a pre-measured...
This work introduces the hardware architecture and general principles of a portable indoor navigation system for guiding visually impaired people. It operates through wireless communication between a compact hardware interface unit carried by the user, a central processing unit and an active RFID unit. The RFID unit collects signals as regard to the position of the user, the central system processes...
Despite precise relative positioning performance of a GPS based navigation system, it may require the reference station in close boundaries and can be affected by satellite observation environments. Thus, this paper presents an INS and vision sensor integrated system, which uses a combination of feature points and the landmark whose position is already known in order to overcome the limitation of...
Achieving an innovative integrated sensor fusion architecture with a robust vehicle navigation and localization using an extended Kalman filter, interval analysis and covariance intersection that can overcome the uncertainty in the system model and sensor noise statistics. There are various approaches to the problem, but here the focus is on an approach which can guaranteed performance of sensor-based...
This paper addresses the problem of optimizing the navigation of an intelligent mobile in a real world environment, described by a map. The map is composed of features representing natural landmarks in the environment. The vehicle is equipped with a sensor which allows it to obtain range and bearing measurements from observed landmarks during the execution. These measurements are correlated with the...
The work presented is related to the research area of autonomous navigation for mobile robots in unstructured, heavily crowded, and highly dynamic environments. One of the main tasks involved in this research topic is the obstacle tracking module that has been successfully developed with different kind of probabilistic algorithms. The reliability that these techniques have shown estimating position...
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