Sum of Gaussian Filter based Cooperative Range-Only SLAM

Title
Sum of Gaussian Filter based Cooperative Range-Only SLAM
Authors
김도익김정희
Issue Date
2019-05
Publisher
ICROS 2019
Abstract
In most range-only simultaneous localization and mapping (RO-SLAM) algorithms, only direct measurements between robot and its neighbor nodes have been utilized for the localization, even though the localization accuracy can be improved if other inter-beacon measurements are actively employed. In this paper, a sum of Gaussian (SoG) filter based RO-SLAM is proposed, whereby all inter-node measurements are integrated for the localization. The performance of the proposed algorithm is verified with the real experimental data, which results in a smaller map estimation error with a faster convergence speed than the conventional Rao-Blackwellized particle filter (RBPF) based RO-SLAM without using the inter-beacon measurements.
URI
http://pubs.kist.re.kr/handle/201004/69369
ISSN
-
Appears in Collections:
KIST Publication > Conference Paper
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