A new global localization algorithm based on feature extraction and particle filter

Daniele Caltabiano, Giovanni Muscato, Salvatore Sessa

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

This paper describes a new global localization algorithm based on feature extraction and particle filter. This algorithm uses two kinds of sensors: wheels encoders and a laser scanner. A map of the environment is built by taking laser readings of the environment from well-known poses of the robot. The resulting map is composed by a list of features, representing the position of clusters obtained by using the mean shift algorithm. The mean shift algorithm is also applied for each sampling step in order to calculate the importance factor of the particles. The trials have been conducted by using a simulator of a differential drive robot.

本文言語English
ホスト出版物のタイトル14th Mediterranean Conference on Control and Automation, MED'06
DOI
出版ステータスPublished - 2006
外部発表はい
イベント14th Mediterranean Conference on Control and Automation, MED'06 - Ancona
継続期間: 2006 6 282006 6 30

Other

Other14th Mediterranean Conference on Control and Automation, MED'06
CityAncona
Period06/6/2806/6/30

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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