General feature extraction for mapping and localization of a mobile robot using sparsely sampled sonar data

Advanced Robotics

Volumn 23, Issue 12-13, 2009, Pages 1601-1616

  Lee, Se Jin ^a   Lim, Jong Hwan ^b   Cho, Dong Woo ^a  

^a Pohang University of Science and Technology (POSTECH)   (South Korea)

^b Jeju National University   (South Korea)

Author keywords

Data association filter; Extended kalman filter localization; Feature map building; Mobile robot; Sonar sensor

Indexed keywords

CIRCLE FEATURES; DATA ASSOCIATION FILTER; DATA ASSOCIATION FILTERS; FEATURE EXTRACTION METHODS; FEATURE MAP BUILDING; GEOMETRIC PARAMETER; GLOBAL MAP; MAPPING AND LOCALIZATION; POINT FEATURES; SENSOR RINGS; SONAR DATA; SONAR SENSOR;

CELLULAR RADIO SYSTEMS; CONFORMAL MAPPING; CONTROL THEORY; EXTENDED KALMAN FILTERS; MOBILE ROBOTS; POSITION CONTROL; SENSORS; SONAR; UNDERWATER ACOUSTICS;

FEATURE EXTRACTION;

EID: 70349330805     PISSN: 01691864     EISSN: 15685535     Source Type: Journal    
DOI: 10.1163/016918609X12496339865491     Document Type: Article

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