Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
On robot navigation using identical landmarks: integrating measurements from a time-of-flight laser
Luleå tekniska universitet.
Luleå tekniska universitet.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
1994 (English)In: 1994 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI '94: October 2 - 5, 1994, Las Vegas, Nevada, USA, Piscataway, NJ: IEEE Communications Society, 1994, 17-26 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents an algorithm for fusing scans from a time-of-flight laser and odometer readings from the robot. The range weighted Hough transform is used as a robust method to extract lines from the range data. The resulting peaks are used as feature coordinates when these lines/walls are used as landmarks during navigation. The associations between observations over the time sequence are made in a systematic way using a decision directed classifier. Natural geometrical landmarks are described in the robot frame together with a covariance matrix representing the spatial uncertainty. The map is thus built incrementally as the robot moves. If the map is given in advance the robot can find its location and navigate relative to the map. Experimental results and simulations are presented for a mobile robot with a scanning range measuring laser with 2 cm resolution

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Communications Society, 1994. 17-26 p.
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Industrial Electronics
Identifiers
URN: urn:nbn:se:ltu:diva-33019DOI: 10.1109/MFI.1994.398477Local ID: 7bd69710-7cd9-11db-8824-000ea68e967bOAI: oai:DiVA.org:ltu-33019DiVA: diva2:1006254
Conference
IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems : 02/10/1994 - 05/10/1994
Note
Godkänd; 1994; 20061126 (ysko)Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2017-11-25Bibliographically approved

Open Access in DiVA

fulltext(854 kB)39 downloads
File information
File name FULLTEXT01.pdfFile size 854 kBChecksum SHA-512
b3711cdabf4db52b56095a9251ba07e4590f7c4c790ce828eee1c63a0a2d559520f43d62a3dacec2e81291f34ab6c8beba712ce24c6845b37f7e6e0469414aea
Type fulltextMimetype application/pdf

Other links

Publisher's full text

Authority records BETA

Wernersson, Åke

Search in DiVA

By author/editor
Wernersson, Åke
By organisation
Embedded Internet Systems Lab
Other Electrical Engineering, Electronic Engineering, Information Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 39 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 33 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf