Active monte carlo localization in outdoor terrains using multi-level surface maps

Informatik aktuell

Volumn , Issue , 2007, Pages 29-35

  Kümmerle, Rainer ^a   Pfaff, Patrick ^a   Triebel, Rudolph ^b   Burgard, Wolfram ^a  

^a UNIVERSITY OF FREIBURG   (Germany)

^b ETH ZURICH   (Switzerland)

Author keywords

[No Author keywords available]

Indexed keywords

MOBILE ROBOTS; RANGE FINDERS; ROBOT APPLICATIONS;

CLUSTERING OPERATION; LASER RANGE FINDERS; MOBILE ROBOT LOCALIZATION; MONTE CARLO LOCALIZATION; MULTIPLE LEVELS; OPTIMAL ORIENTATION; OUTDOOR ENVIRONMENT; VERTICAL STRUCTURES;

MONTE CARLO METHODS;

EID: 84867015863     PISSN: 1431472X     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1007/978-3-540-74764-2_5     Document Type: Conference Paper

References (15)

1. R. Kummerle, R. Triebel, P. Pfaff, and W. Burgard. Monte carlo localization in outdoor terrains using multi-level surface maps. In Proc. of the International Conference on Field and Service Robotics (FSR), Chamonix, France, 2007.
2. 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.
3. J. Bares, M. Hebert, T. Kanade, E. Krotkov, T.Mitchell, R. Simmons, andW. R. L. Whittaker. Ambler: An autonomous rover for planetary exploration. IEEE Computer Society Press, 22(6):18-22, 1989.
4. M. Hebert, C. Caillas, E. Krotkov, I.S. Kweon, and T. Kanade. Terrain mapping for a roving planetary explorer. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), pages 997-1002, 1989.
5. S. Lacroix, A. Mallet, D. Bonnafous, G. Bauzil, S. Fleury and; M. Herrb, and R. Chatila. Autonomous rover navigation on unknown terrains: Functions and integration. International Journal of Robotics Research, 21(10-11):917-942, 2002.
6. C. Parra, R. Murrieta-Cid, M. Devy, and M. Briot. 3-d modelling and robot localization from visual and range data in natural scenes. In 1st International Conference on Computer Vision Systems (ICVS), number 1542 in LNCS, pages 450-468, 1999.
7. L. P. Kaelbling, A. R. Cassandra, and J. A. Kurien. Acting under uncertainty: Discrete Bayesian models for mobile-robot navigation. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Osaka, Japan, 1996.
8. S. Koenig and R. Simmons. Xavier: A robot navigation architecture based on partially observable markov decision process models. In D. Kortenkamp, R. Bonasso, and R. Murphy, editors, Artificial Intelligence Based Mobile Robotics: Case Studies of Successful Robot Systems, pages 91-122. MIT Press, 1998.
9. P. Jensfelt and S. Kristensen. Active global localisation for a mobile robot using multiple hypothesis tracking. IEEE Transactions on Robotics and Automation, 17(5):748-760, October 2001.
10. A Davison and N. Kita. 3d simultaneous localisation and map-building using active vision for a robot moving on undulating terrain. In Proc. IEEE Conference on Computer Vision and Pattern Recognition, Kauai. IEEE Computer Society Press, December 2001.
11. J. M. Porta, J. J. Verbeek, and B. J. A. Krose. Active appearance-based robot localization using stereo vision. Auton. Robots, 18(1):59-80, 2005.
12. D. Fox, W. Burgard, and S. Thrun. Active markov localization for mobile robots. Journal of Robotics & Autonomous Systems, 25:195-207, 1998.
13. F. Dellaert, D. Fox, W. Burgard, and S. Thrun. Monte Carlo localization for mobile robots. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), 1999.
14. A. Doucet, N. de Freitas, and N. Gordan, editors. Sequential Monte-Carlo Methods in Practice. Springer Verlag, 2001.
15. L. J. Heyer, S. Kruglyak, and S. Yooseph. Exploring expression data: Identification and analysis of coexpressed genes. Genome Res., 9(11):1106-1115, 1999.