A probabilistic sonar sensor model for robust localization of a small-size blimp in indoor environments using a particle filter

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2009, Pages 3589-3594

  Müller, Jörg ^a   Rottmann, Axel ^a   Reindl, Leonhard M ^a   Burgard, Wolfram ^a  

^a UNIVERSITY OF FREIBURG   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

AGRICULTURAL ROBOTS; INDOOR POSITIONING SYSTEMS; MONTE CARLO METHODS; ROBOTICS; SONAR; ULTRASONICS;

INDOOR ENVIRONMENT; KNOWN ENVIRONMENTS; LARGE OPENINGS; MONTE CARLO LOCALIZATION; OPENING ANGLE; SONAR SENSOR; ULTRASOUND SENSORS; WHEELED PLATFORMS;

AIRSHIPS;

EID: 84864231703     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2009.5152283     Document Type: Conference Paper

References (29)

1. A. Angeli, D. Filliat, S. Doncieux, and J.-A. Meyer. 2D simultaneous localization and mapping for micro aerial vehicles. In European Micro Aerial Vehicles (EMAV), 2006.
2. M. Billinghurst and H. Kato. Collaborative augmented reality. Communications of the ACM, (7):64-70, 2002.
3. M.K. Brown. Feature extraction techniques for recognizing solid objects with an ultrasonic range sensor. IEEE Jornal of Robotics and Automation, 1(4):191-205, 1985.
4. W. Burgard, D. Fox, D. Hennig, and T. Schmidt. Estimating the absolute position of a mobile robot using position probability grids. In Proc. of the National Conf. on Artificial Intelligence (AAAI), 1996.
5. H. Choset, K.M. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L.E. Kavarki, and S. Thrun. Principles of Robot Motion Planning. MIT Press, 2005.
6. F. Dellaert, D. Fox, W. Burgard, and W. Thrun. Monte carlo localization for mobile robots. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), pages 1322-1328, 1999.
7. A. Doucet. On sequential simulation-based methods for bayesian filtering. Technical report, Signal Processing Group, Dept. of Engeneering, University of Cambridge, 1998.
8. D. Fox, W. Burgard, and S. Thrun. Markov localization for mobile robots in dynamic environments. Journal of Artificial Intelligence Research (JAIR), 11:391-427, 1999.
9. J.-S. Gutmann, W. Burgard, D. Fox, and K. Konolige. An experimental comparison of localization methods. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 1998.
10. Q. Hada, K. Kawabata, H. Kaetsu, and H. Asama. Autonomous blimp system for aerial infrastructure. In Proc. of the Int. Conf. on Ubiquitous Robots and Ambient Intelligence, 2005.
11. E. Hygounenc, I-K. Jung, P. Soueres, and S. Lacroix. The autonomous blimp project at LAAS/CNRS: achievements in flight control and terrain mapping. Int. Journal of Robotics Research, 23(4), 2004.
12. G. Kantor, D. Wettergreen, J.P. Ostrowski, and S. Singh. Collection of environmental data from an airship platform. In Proc. of the SPIE Conf. on Sensor Fusion and Decentralized Control in Robotic Systems, 2001.
13. N. Kirchner and T Furukawa. Infrared localization for indoor UAVs. In Proc. of the 1st Int. Conf. on Sensing Technology, 2005.
14. J. Ko, D.J. Klein, D. Fox, and D. Haehnel. GP-UKF: Unscented kalman filters with gaussian process prediction and observation models. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pages 1901-1907, 2007.
15. K. Konolige and K. Chou. Markov localization using correlation. In Proc. of the Int. Conf. on Artificial Intelligence (IJCAI), 1999.
16. J.J. Leonard and H.F. Durrant-Whyte. Directed Sonar Sensing for Mobile Robot Navigation. Kluwer Academic Publishers, Boston, 1992.
17. J.S. Liu. Metropolized independent sampling with comparisons to rejection sampling and importance sampling. Statist. Comput., 6, 1996.
18. H.P. Moravec. Sensor fusion in certainty grids for mobile robots. AI Magazine, 9(2):61-74, 1988.
19. H.P. Moravec and A.E. Elfes. High resolution maps from wide angle sonar. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), pages 116-121, 1985.
20. A. Rottmann, M. Sippel, T. Ziterell, W. Burgard, L. Reindl, and C. Scholl. Towards an experimental autonomous blimp platform. In Proc. of the European Conf. on Mobile Robots (ECMR), 2007.
21. C. Schroeter, A. Koenig, H.-J. Boehme, and H.-M. Gross. Multi-sensor monte-carlo-localization combining omni-vision and sonar range sensors. In Proc. of the European Conf. on Mobile Robots (ECMR), 2005.
22. M. Sippel, A. Abduhl-Majeed, W. Kuntz, and L. Reindl. Enhancing accuracy of an indoor radar by the implementation of a quaternion- and unscented kalman filter-based lightweight, planar, strapdown IMU. In Proc. of the European Navigation Conf. (ENC-GNSS), 2008.
23. B. Steder, G. Grisetti, S. Grzonka, C. Stachniss, A. Rottmann, and W. Burgard. Learning maps in 3d using attitude and noisy vision sensors. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pages 644-649, 2007.
24. J.D. Tardós, J. Neira, P.M. Newman, and J.J. Leonard. Robust mapping and localization in indoor environments using sonar data. Int. Journal of Robotics Research, 21(4):311-330, 2002.
25. S. Thrun. A probabilistic online mapping algorithm for teams of mobile robots. Int. Journal of Robotics Research, 20(5), 2001.
26. S. Thrun. Learning occupancy grid maps with forward sensor models. Journal of Autonomous Robots, 11:111-127, 2003.
27. S. Thrun, W. Burgard, and D. Fox. Probabilistic Robotics. MIT Press, 2005.
28. R. Triebel, P. Pfaff, and W. Burgard. Multi-level surface maps for outdoor terrain mapping and loop closing. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2006.
29. J.C. Zufferey, A. Guanella, A. Beyeler, and D. Floreano. Flying over the reality gap: From simulated to real indoor airships. Autonomous Robots, 21(3):243-254, 2006.