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dc.contributor.author
Arras, Kai O.
dc.contributor.author
Castellanos, José A.
dc.contributor.author
Siegwart, Roland
dc.date.accessioned
2024-02-08T13:33:56Z
dc.date.available
2017-06-11T06:39:51Z
dc.date.available
2024-02-08T13:33:56Z
dc.date.issued
2002
dc.identifier.isbn
0-7803-8232-3
en_US
dc.identifier.isbn
0-7803-8233-1
en_US
dc.identifier.other
10.1109/ROBOT.2002.1014734
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/82215
dc.description.abstract
In this paper we present a new probabilistic feature-based approach to multi-hypothesis global localization and pose tracking. Hypotheses are generated using a constraint-based search in the interpretation tree of possible local-to-global pairings. This results in a set of robot location hypotheses of unbounded accuracy. For tracking, the same constraint-based technique is used. It performs track splitting as soon as location ambiguities arise from uncertainties and sensing. This yields a very robust localization technique which can deal with significant errors from odometry, collisions and kidnapping. Simulation experiments and first tests with a real robot demonstrate these properties at very low computational cost. The presented approach is theoretically sound which makes that the only parameter is the significance level on which all statistical decisions are taken.
en_US
dc.language.iso
en
en_US
dc.publisher
IEEE
en_US
dc.title
Feature-Based Multi-Hypothesis Localization and Tracking for Mobile Robots Using Geometric Constraints
en_US
dc.type
Conference Paper
dc.date.published
2002-08-07
ethz.book.title
2004 IEEE International Conference on Robotics and Automation
en_US
ethz.journal.volume
2
en_US
ethz.pages.start
1371
en_US
ethz.pages.end
1377
en_US
ethz.event
IEEE International Conference on Robotics & Automation (ICRA 2002)
en_US
ethz.event.location
Washington, DC, USA
en_US
ethz.event.date
May 11-15, 2002
en_US
ethz.publication.place
Piscataway, NJ
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
ethz.date.deposited
2017-06-11T06:42:50Z
ethz.source
ECIT
ethz.identifier.importid
imp593651c29ef1c40598
ethz.ecitpid
pub:129523
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2017-07-13T17:03:55Z
ethz.rosetta.lastUpdated
2024-02-01T21:41:44Z
ethz.rosetta.exportRequired
true
ethz.rosetta.versionExported
true
ethz.COinS
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