Advanced Sonar and Odometry Error Modeling for Simultaneous Localisation and Map Building

IEEE International Conference on Intelligent Robots and Systems

Volumn 1, Issue , 2003, Pages 699-704

  Kleeman, Lindsay ^a  

^a MONASH UNIVERSITY   (Australia)

Author keywords

[No Author keywords available]

Indexed keywords

DATA REDUCTION; KALMAN FILTERING; MAPS; MOBILE ROBOTS; PNEUMATIC CONTROL EQUIPMENT; SIGNAL INTERFERENCE; ULTRASONICS;

DATA ASSOCIATION; ODOMETRY;

SONAR;

EID: 0346149788     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (15)

1. T Tsubouchi; "Nowadays trends in map generation for mobile robots" IROS 96, pp: 828-833.
2. G Zunino,; H Christensen,. "Simultaneous localization and mapping in domestic environments" Int. Conf. Multisensor Fusion and Integration for Intelligent Systems, 2001. pp: 67-72.
3. H. J. S. Feder, J. J. Leonard and C. M. Smith. "Adaptive mobile robot navigation and mapping." IJRR, July 1999 pp. 650-668.
4. J.J Leonard, H.J.S. Feder, "Decoupled stochastic mapping for mobile robot & AUV navigation" IEEE J. Oceanic Eng., Vol.26, Iss.4, 2001 pp:561-571
5. K S Chong and L. Kleeman, "Feature-based mapping in real, large scale environments using an ultrasonic array", IJRR, 1999, pp. 3-19.
6. K S Chong and L Kleeman, "Sonar based map building for a mobile robot",", IEEE Int Conf Robotics & Automation, 1997, pp. 1700-1705.
7. K S Chong and L Kleeman, "Accurate odometry and error modelling for a mobile robot", IEEE Int Conf Robotics & Automation, 1997, pp. 2783-2788.
8. L. Kleeman, "On-the-fly classifying sonar with accurate range and bearing estimation" IROS 2002, pp.178-183.
9. A. Heale and L. Kleeman, "Fast target classification using sonar" IROS 2001, p 1446-1451.
10. L. Kleeman, "Fast and accurate sonar trackers using double pulse coding", IROS 99, pp.1185-1190.
11. A Davison, Mobile Robot Navigation Using Active Vision D.Phil Thesis University of Oxford, 1998.
12. M Montemerlo, and S Thrun, and D Koller and B Wegbreit, "FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem", 2002, Proc. of the AAAI National Conf Artificial Intelligence, Edmonton, Canada.
13. J Guivant, E Nebot "Improving Computational and Memory Requirements of Simultaneous Localization and Map Building Algorithms" Proc 2002 IEEE Int. Conf Robotics & Automation 2002, pp. 2731-2736.
14. K S Chong and L. Kleeman, "Mobile robot map building for an advanced sonar array and accurate odometry", IJRR 1999, pp. 20-36
15. L. Kleeman and R. Kuc, "Mobile robot sonar for target localization and classification", IJRR 1995, pp 295-318.