Proceedings ArticleDOI
Proposal of Hypotheses Association for Mobile Robot Localization
Lejla Banjanovic-Mehmedovic,Edouard Ivanjko,Ivan Petrović +2 more
- Vol. 2, pp 1200-1203
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TLDR
The algorithm introduced here is based on the multiple model (MM) and exploits a soft gating of the problem (SG) to reduce the computational requirements of the approach.Abstract:
Global localization is the problem of determining the position of a mobile robot under global uncertainty. The algorithm introduced here is based on the multiple model (MM) and exploits a soft gating of the problem (SG) to reduce the computational requirements of the approach. This localization algorithm is based on combining histograms and Hough transform. Presented algorithm is tested using a Pioneer 2 DX mobile robot simulatorread more
References
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Book
Estimation with Applications to Tracking and Navigation
TL;DR: Estimation with Applications to Tracking and Navigation treats the estimation of various quantities from inherently inaccurate remote observations using a balanced combination of linear systems, probability, and statistics.
Simulation Based Methods for Target Tracking
TL;DR: In this paper, a Bayesian estimation formulation of the target tracking problem is proposed, where the uncertainty in the sensor and motion models is assumed to be linear or linearized models.
Proceedings ArticleDOI
Using multiple Gaussian hypotheses to represent probability distributions for mobile robot localization
D.J. Austin,Patric Jensfelt +1 more
TL;DR: A new mobile robot localization technique is presented which uses multiple Gaussian hypotheses to represent the probability distribution of the robot location in the environment and experimental results are given demonstrating the effectiveness of the scheme.
Journal ArticleDOI
A Robust Hough Transform Technique for Complete Line Segment Description
Mohammed Atiquzzaman,M.W. Akhtar +1 more
TL;DR: A new algorithm is proposed for the determination of the length and the end points of a line in an image that is very efficient in terms of computing time and does not depend on the sharpness of the peak in the accumulator array.
APR - Global Scan Matching Using Anchor Point Relationships
TL;DR: APR is a pattern match- ing algorithm designed for the realtime search of best matching laser scans in a set of given reference scans which makes APR especially attractive for probabilistic techniques aiming at global localization capabilities.