Publication
Integrating asynchronous observations for mobile robot position tracking in cooperative environments
Conference Article
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Edition
2009
Pages
3850-3855
Doc link
http://dx.doi.org/10.1109/IROS.2009.5354502
File
Abstract
This paper presents an asynchronous particle filter algorithm for mobile robot position tracking, taking into account time considerations when integrating observations being delayed or advanced from the prior estimate time point. The interest of that filter lies in cooperative environments and in fast vehicles. The paper studies the first case, where a sensor network shares perception data with running robots that receive accurate observations with large delays due to acquisition, processing and wireless communications. Promising simulated results comparing a basic particle filter and the proposed one are shown. The paper also investigates a situation where a robot is tracking its position, fusing only odometry and observations from a camera network partially covering the robot path.
Categories
mobile robots.
Author keywords
mobile robot, position tracking, particle filter, asynchronous sensor fusion
Scientific reference
A. Corominas Murtra, J. M. Mirats Tur and A. Sanfeliu. Integrating asynchronous observations for mobile robot position tracking in cooperative environments, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, Saint Louis, MO, USA, pp. 3850-3855.
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