Work

A modified particle filter for simultaneous robot localization and landmark tracking in an indoor environment

Year: 2004

Type: conference-paper

Abstract: This paper presents the implementation of a modified particle filter for vision-based simultaneous localization and mapping of an autonomous robot in a structured indoor environment. Through this method, artificial landmarks such as multi-coloured cylinders can be tracked with a camera mounted on the robot, and the position of the robot can be estimated at the same time. Experimental results in simulation and in real environments show that this approach has advantages over the extended Kalman filter with ambiguous data association and various levels of odometric noise. 1

Source: QUT ePrints (Queensland University of Technology)

Authors: Wenyan Hu, T. Downs, Gordon Wyeth, Michael Milford, David Prasser

Language: English

Topic: Robotics and Sensor-Based Localization

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W174908431

FWCI: 0.252

Cites: 17

Cited by: 18

Related to: 10