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ID:33927469
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页数:6页
时间:2019-02-28
《SLAM with Expectation Maximization for Moveable Object Tracking.pdf》由会员上传分享,免费在线阅读,更多相关内容在学术论文-天天文库。
1、The2010IEEE/RSJInternationalConferenceonIntelligentRobotsandSystemsOctober18-22,2010,Taipei,TaiwanSLAMwithExpectationMaximizationforMoveableObjectTrackingJohnG.RogersIII,AlexanderJ.B.Trevor,CarlosNieto-Granda,andHenrikI.ChristensenAbstract—Thegoalofsimultaneouslocalizationandmappingvalidatedinan
2、indoorenvironment.Thispaperisorganized(SLAM)istocomputetheposteriordistributionoverlandmarkasfollows:AfteradiscussionofrelatedworksinsectionII,poses.Typically,thisismadepossiblethroughthestaticworldweexplainouralgorithmforhandlingmoveablelandmarksassumption–thelandmarksremaininthesamelocationinS
3、LAMbyfirstdiscussingtheSmoothingandMappingthroughoutthemappingprocedure.Somepriorworkhasaddressedthisassumptionbysplittingmapsintostaticand(SAM)algorithmwithourextensionsinsectionIII.Thedynamicsets,orbyrecognizingmovinglandmarksandtrackingexperimentalprocedurewillbedescribedinsectionIVandthem.Inc
4、ontrasttopreviouswork,weapplyanExpectationexperimentalresultswillbeanalyzedinsectionsVandVI.MaximizationtechniquetoagraphbasedSLAMapproachFuturedirectionsforthisworkwillbeoutlinedinsectionandallowlandmarkstobedynamic.ThebatchnatureofVII.thisoperationenablesustodetectmoveablelandmarksandfactorthe
5、moutofthemap.WedemonstratetheperformanceofthisalgorithmwithaseriesofexperimentswithmoveableII.RELATEDWORKlandmarksinastructuredenvironment.ThesummarypapersbyDurrant-WhyteandBailey[8],I.INTRODUCTION[2]serveasanexcellentintroductiontotheSLAMproblem.TherearetwobasicstrategiesforsolvingtheSLAMprob-R
6、obotsneedthecapabilityoflocalizationandmappinglem.ThefirstapproachusedbytheroboticscommunitywastoperforminmanyapplicationdomainssuchasmobilebasedupontheuseoftheExtendedKalmanFilter(EKF)formanipulation.Anessentialpartofnavigationistheabilitytomobilerobotlocalization.TheEKFwasusedby[5]and[6]remainl
7、ocalizedintheirenvironment.IntheSimultaneousformobilerobotlocalizationusinganapriorimap.TheLocalizationandMapping(SLAM)problem,weareinter-firstviableSLAMalgorithmbasedontheEKFwasreportedestedinestimatingthemostlikelypositions
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