TY - GEN
T1 - Effective application of Monte Carlo localization for service robot
AU - Cen, Guanghui
AU - Nakamoto, Hideichi
AU - Matsuhira, Nobuto
AU - Hagiwara, Ichiro
PY - 2007
Y1 - 2007
N2 - At indoor environment, a service robot must know where it is at any time. Thus, reliable position estimation is a basic and key problem. Probabilistic robotics techniques have become one of the dominant paradigms for algorithm design in robotics. Recent work on Monte Carlo Localization with particle-based density representation becomes popular. In this paper we introduce the multi-sensor based Monte Carlo Localization (MCL) method which represents a robot's belief by a set of weighted samples and use the Laser Range Finder (LRF) sensor to measurement update. The experiment results illustrate the effectivity and robust of MCL application for our service robot.
AB - At indoor environment, a service robot must know where it is at any time. Thus, reliable position estimation is a basic and key problem. Probabilistic robotics techniques have become one of the dominant paradigms for algorithm design in robotics. Recent work on Monte Carlo Localization with particle-based density representation becomes popular. In this paper we introduce the multi-sensor based Monte Carlo Localization (MCL) method which represents a robot's belief by a set of weighted samples and use the Laser Range Finder (LRF) sensor to measurement update. The experiment results illustrate the effectivity and robust of MCL application for our service robot.
UR - http://www.scopus.com/inward/record.url?scp=51349085036&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51349085036&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399409
DO - 10.1109/IROS.2007.4399409
M3 - Conference contribution
AN - SCOPUS:51349085036
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1914
EP - 1919
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -