کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
413212 679906 2007 9 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Fast and accurate SLAM with Rao–Blackwellized particle filters
کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Fast and accurate SLAM with Rao–Blackwellized particle filters
چکیده انگلیسی

Rao–Blackwellized particle filters have become a popular tool to solve the simultaneous localization and mapping problem. This technique applies a particle filter in which each particle carries an individual map of the environment. Accordingly, a key issue is to reduce the number of particles and/or to make use of compact map representations. This paper presents an approximative but highly efficient approach to mapping with Rao–Blackwellized particle filters. Moreover, it provides a compact map model. A key advantage is that the individual particles can share large parts of the model of the environment. Furthermore, they are able to reuse an already computed proposal distribution. Both techniques substantially speed up the overall filtering process and reduce the memory requirements. Experimental results obtained with mobile robots in large-scale indoor environments and based on published standard datasets illustrate the advantages of our methods over previous mapping approaches using Rao–Blackwellized particle filters.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 55, Issue 1, 31 January 2007, Pages 30–38
نویسندگان
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