Naslov
Map building and object tracking inside Intelligent Spaces using static and mobile sensors

Autori
Brščić, Dražen ; Hashimoto, Hideki

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

Izvornik
Proceedings of the 2007 IEEE/RSJ International Conference on Robotic Systems (IROS 2007) / - San Diego (CA), 2007, 3751-3756

ISBN
1-4244-0912-8

Skup
IEEE/RSJ International Conference on Robotic Systems (IROS 2007)

Mjesto i datum
San Diego (CA), Sjedinjene Američke Države, 29.10.2007. - 02.11.2007

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
mobile robot; map building; object tracking; intelligent spaces

Sažetak
This paper deals with the problem of object tracking and environment mapping inside a space with distributed sensors – Intelligent Space. In a conventional approach the distributed sensors are used for these tasks, however since the sensors are static this has several disadvantages. In this paper in addition to static sensors we introduce the use of a mobile robot as mobile sensor to gather additional information and improve the estimation performance. We discuss the characteristics of such a tracking system, mainly concentrating on a system that uses laser range finders as both mobile and static sensors. Estimation methods based on Kalman Filter and Covariance Intersection are presented and analyzed. Finally, the presented methods are experimentally tested.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

POVEZANOST RADA