Naslov
Rao-Blackwellized Particle Filter SLAM with Prior Map: An Experimental Evaluation

Autori
Popović, Goran ; Oršulić, Juraj ; Miklić, Damjan ; Bogdan, Stjepan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
ROBOT 2017: Third Iberian Robotics Conference / - : Springer, 2017, 14-25

Skup
Iberian Robotics conference

Mjesto i datum
Sevilla, Španjolska, 22.11.2017. - 24.11.2017

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
particle filter, slam, prior map

Sažetak
Robotic applications demanding high-precision positioning, such as material handling by autonomous forklifts, require accurate and consistent maps of the environment. Moreover, exact correspondence between features of the architectural floor plan and the vehicle navigation map is desirable, as pick-up and drop- off locations are typically laid out on the floor plan. In this paper, we present a modification of the well-established grid-based Rao-Blackwellized particle filter (RBPF), which enables efficient initialization of its internal data structures using information from the architectural floor plan. This prior information simultaneously improves mapping accuracy and yields a map that has a high degree of correspondence with the floor plan. The proposed method is evaluated experimentally, on a publicly available localization dataset from the MIT Stata Centre, and on a dataset acquired with a mobile platform at the University of Zagreb.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Interdisciplinarne tehničke znanosti, Informacijske i komunikacijske znanosti

POVEZANOST RADA