Reference : Auxiliary particle filter robot localization from high-dimensional sensor observations
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Computer science
http://hdl.handle.net/10993/11067
Auxiliary particle filter robot localization from high-dimensional sensor observations
English
Vlassis, Nikos mailto [University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB) > >]
Terwijn, B. [> >]
Krose, B. [> >]
2002
IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS
7-12
Yes
IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS
2002
[en] We apply the auxiliary particle filter algorithm of Pitt and Shephard (1999) to the problem of robot localization. To deal with the high-dimensional sensor observations (images) and an unknown observation model., we propose the use of an inverted nonparametric observation model computed by nearest neighbor conditional density estimation. We show that the proposed model can lead to a fully adapted optimal filter, and is able to successfully handle image occlusion and robot kidnap. The proposed algorithm is very simple to implement and exhibits a high degree of robustness in practice. We report experiments involving robot localization from omnidirectional vision in an indoor environment.
http://hdl.handle.net/10993/11067

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