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Extending the Occupancy Grid Concept for Low-Cost Sensor Based SLAM

Nordh, Jerker LU and Berntorp, Karl LU (2012) 10th International IFAC Symposium on Robot Control In 10th IFAC Symposium on Robot Control p.151-156
Abstract
The simultaneous localization and mapping problem is approached by using an

ultrasound sensor and wheel encoders. To be able to account for the low precision inherent in ultrasound sensors, the occupancy grid notion is extended. The extension takes into consideration with which angle the sensor is pointing, to compensate for the issue that an object is not necessarily detectable from all position due to deficiencies in how ultrasonic range sensors work. Also, a mixed linear/nonlinear model is derived for future use in Rao-Blackwellized

particle smoothing.
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Rao-Blackwellized, Mobile robots, SLAM, Particle filtering, Kalman filtering, Occupancy grids
in
10th IFAC Symposium on Robot Control
pages
151 - 156
publisher
IFAC
conference name
10th International IFAC Symposium on Robot Control
external identifiers
  • Scopus:84881015663
ISBN
978-3-902823-11-3
DOI
10.3182/20120905-3-HR-2030.00079
language
English
LU publication?
yes
id
eb7ed1d4-817a-4127-963c-6ee58f4abd88 (old id 2440780)
date added to LUP
2012-05-09 10:02:38
date last changed
2016-10-13 04:50:09
@misc{eb7ed1d4-817a-4127-963c-6ee58f4abd88,
  abstract     = {The simultaneous localization and mapping problem is approached by using an<br/><br>
ultrasound sensor and wheel encoders. To be able to account for the low precision inherent in ultrasound sensors, the occupancy grid notion is extended. The extension takes into consideration with which angle the sensor is pointing, to compensate for the issue that an object is not necessarily detectable from all position due to deficiencies in how ultrasonic range sensors work. Also, a mixed linear/nonlinear model is derived for future use in Rao-Blackwellized<br/><br>
particle smoothing.},
  author       = {Nordh, Jerker and Berntorp, Karl},
  isbn         = {978-3-902823-11-3},
  keyword      = {Rao-Blackwellized,Mobile robots,SLAM,Particle filtering,Kalman filtering,Occupancy grids},
  language     = {eng},
  pages        = {151--156},
  publisher    = {ARRAY(0x919da00)},
  series       = {10th IFAC Symposium on Robot Control},
  title        = {Extending the Occupancy Grid Concept for Low-Cost Sensor Based SLAM},
  url          = {http://dx.doi.org/10.3182/20120905-3-HR-2030.00079},
  year         = {2012},
}