Landmark perception planning for mobile robot localization

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dc.contributor.author Armingol Moreno, José María
dc.contributor.author Moreno Lorente, Luis Enrique
dc.contributor.author Escalera Hueso, Arturo de la
dc.contributor.author Salichs Sánchez-Caballero, Miguel
dc.date.accessioned 2010-03-04T15:27:40Z
dc.date.available 2010-03-04T15:27:40Z
dc.date.issued 1998
dc.identifier.bibliographicCitation IEEE International Conference on Robotics and Automation, 1998, p. 3425-3430
dc.identifier.isbn 0-7803-4300-X
dc.identifier.uri http://hdl.handle.net/10016/7126
dc.description IEEE International Conference on Robotics and Automation, Leuven, Belgium, 1998
dc.description.abstract This paper presents a fuzzy perception planner that takes into account the time cost, the suitability of every landmark detection and the different uncertainties the robot encounters along its path for mobile robot localization. The sensor used is a camera with a motorized zoom on a pan & tilt platform and the artificial landmarks are circles detected through normalized grayscale correlation. An Extended Kalman Filter is used to correct the position and orientation of the vehicle. The resulting self-localization module has been integrated successfully in a more complicated navigation system.
dc.description.sponsorship The authors gratefully acknowledge the funds provided by the Spanish Government through the CICYT projects TAP94-711 and TAP96-657, and thank B.J. Carabao and M.J. Lopez for their experimental work with the planner using the B2 1 robot.
dc.format.mimetype application/pdf
dc.language.iso eng
dc.publisher IEEE
dc.rights © IEEE
dc.title Landmark perception planning for mobile robot localization
dc.type article
dc.type conferenceObject
dc.type.review PeerReviewed
dc.description.status Publicado
dc.relation.publisherversion http://dx.doi.org/10.1109/ROBOT.1998.680967
dc.subject.eciencia Robótica e Informática Industrial
dc.identifier.doi 10.1109/ROBOT.1998.680967
dc.rights.accessRights openAccess
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