Extending the Occupancy Grid Concept for Low-Cost Sensor Based SLAM
(2012) 10th International 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:
https://lup.lub.lu.se/record/2440780
- author
- Nordh, Jerker LU and Berntorp, Karl LU
- organization
- publishing date
- 2012
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- Rao-Blackwellized, Mobile robots, SLAM, Particle filtering, Kalman filtering, Occupancy grids
- host publication
- 10th IFAC Symposium on Robot Control
- pages
- 151 - 156
- publisher
- IFAC
- conference name
- 10th International IFAC Symposium on Robot Control
- conference location
- Dubrovnik, Croatia
- conference dates
- 2012-09-05
- 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
- 2016-04-04 12:11:57
- date last changed
- 2024-06-04 15:07:16
@inproceedings{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}}, booktitle = {{10th IFAC Symposium on Robot Control}}, isbn = {{978-3-902823-11-3}}, keywords = {{Rao-Blackwellized; Mobile robots; SLAM; Particle filtering; Kalman filtering; Occupancy grids}}, language = {{eng}}, pages = {{151--156}}, publisher = {{IFAC}}, title = {{Extending the Occupancy Grid Concept for Low-Cost Sensor Based SLAM}}, url = {{https://lup.lub.lu.se/search/files/5950573/3450806.pdf}}, doi = {{10.3182/20120905-3-HR-2030.00079}}, year = {{2012}}, }