Landmark perception planning for mobile robot localization

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Show simple item record Armingol Moreno, José María Moreno Lorente, Luis Enrique Escalera Hueso, Arturo de la Salichs Sánchez-Caballero, Miguel 2010-03-04T15:27:40Z 2010-03-04T15:27:40Z 1998
dc.identifier.bibliographicCitation IEEE International Conference on Robotics and Automation, 1998, p. 3425-3430
dc.identifier.isbn 0-7803-4300-X
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 conferenceObject PeerReviewed
dc.description.status Publicado
dc.subject.eciencia Robótica e Informática Industrial
dc.identifier.doi 10.1109/ROBOT.1998.680967
dc.rights.accessRights openAccess
dc.relation.eventtype proceeding
dc.affiliation.dpto UC3M. Departamento de Ingeniería de Sistemas y Automática
dc.affiliation.grupoinv UC3M. Grupo de Investigación: Laboratorio de Sistemas Inteligentes
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