Feasibility grids for localization and mapping in crowded urban scenes

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2011, Pages 2322-2328

  Yang, Shao Wen ^a   Wang, Chieh Chih ^a  

^a NATIONAL TAIWAN UNIVERSITY   (Taiwan)

Author keywords

[No Author keywords available]

Indexed keywords

AUTONOMOUS NAVIGATION; CHANGING ENVIRONMENT; CROSSABILITY; DUAL SENSOR; DYNAMIC ENVIRONMENTS; MOBILE ROBOT LOCALIZATION; MOBILE ROBOTIC; MOVING OBJECTS; OCCUPANCY GRIDS; PERFORMANCE IMPROVEMENTS; PLANAR LASER; RAPID CONVERGENCE; REAL ENVIRONMENTS; ROBUST PERFORMANCE; ROOT MEAN SQUARE; STATIONARY OBJECTS; URBAN SCENES;

MOBILE ROBOTS; ROBOT APPLICATIONS; SENSORS;

ROBOTICS;

EID: 84868634129     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2011.5979635     Document Type: Conference Paper

References (19)

1. A. Elfes, "Uncertain geometry in robotics," IEEE Journal of Robotics and Automation, vol. 3, no. 3, pp. 249-265, June 1987.
2. D. Fox, W. Burgard, and S. Thrun, "Markov localization for mobile robots in dynamic environments," Journal of Artificial Intelligence Research, vol. 11, no. 3, pp. 391-427, February 1999.
3. F. Dellaert, D. Fox, W. Burgard, and S. Thrun, "Monte Carlo localization for mobile robots," in Proceedings of the IEEE International Conference on Robotics and Automation, vol. 2, Detroit, MI, USA, May 1999, pp. 1322-1328.
4. S. Thrun, "A probabilistic online mapping algorithm for teams of mobile robots," The International Journal of Robotics Research, vol. 20, no. 5, pp. 335-363, April 2001.
5. S. Thrun, D. Fox, W. Burgard, and F. Dellaert, "Robust Monte Carlo Localization for Mobile Robots," Artificial Intelligence, vol. 128, no. 1-2, pp. 99-141, 2000.
6. D. Fox, W. Burgard, S. Thrun, and A. B. Cremers, "Position Estimation for Mobile Robots in Dynamic Environments," in Proceedings of the National Conference on Artificial Intelligence, Madison, Wisconsin, July 1998.
7. Y. Bar-Shalom, T. Kirubarajan, and X.-R. Li, Estimation with Applications to Tracking and Navigation. New York, NY, USA: John Wiley & Sons, Inc., 2002.
8. S.-W. Yang and C.-C. Wang, "Multiple-Model RANSAC for Ego-Motion Estimation in Highly Dynamic Environments," in Proceedings of the IEEE International Conference on Robotics and Automation, Kobe, Japan, May 2009, pp. 3531-3538.
9. S.-W. Yang, C.-C. Wang, and C.-H. Chang, "RANSAC Matching: Simultaneous Registration and Segmentation," in Proceedings of the IEEE International Conference on Robotics and Automation, Anchorage, Alaska, May 2010.
10. A. Doucet, N. de Freitas, and N. Gordon, Sequential Monte Carlo Methods in Practice. Heidelberg: Springer, 2001.
11. B. Limketkai, D. Fox, and L. Liao, "CRF-Filters: Discriminative Particle Filters for Sequential State Estimation," in Proceedings of the IEEE International Conference on Robotics and Automation, Roma, Italy, April 2007.
12. J. Levinson and S. Thrun, "Robust Vehicle Localization in Urban Environments Using Probabilistic Maps," in Proceedings of the IEEE International Conference on Robotics and Automation, Anchorage, Alaska, May 2010.
13. D. Arbuckle, A. Howard, and M. Matarić, "Temporal Occupancy Grids: a Method for Classifying the Spatio-Temporal Properties of the Environment," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, October 2002.
14. N. C. Mitsou and C. S. Tzafestas, "Temporal Occupancy Grid for mobile robot dynamic environment mapping," in The 15th Mediterranean Conference on Control and Automation, Athens, Greece, July 2007.
15. F. Lu and E. Milios, "Globally Consistent Range Scan Alignment for Environment Mapping," Autonomous Robots, vol. 4, no. 4, pp. 333-349, 1997.
16. S. Thrun, W. Burgard, and D. Fox, Probabilistic Robotics. Cambridge, MA: MIT press, 2005.
17. F. Lu and E. Milios, "Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans," Journal of Intelligent and Robotic Systems, vol. 18, no. 3, pp. 935-938, 1997.
18. T. Duckett and U. Nehmzow, "Mobile robot self-localisation using occupancy histograms and a mixture of Gaussian location hypotheses," Robotics and Autonomous Systems, vol. 34, no. 2-3, pp. 117-129, February 2001.
19. S.-W. Yang, C.-C. Wang, and C. Thorpe, "The Annotated Laser Data Set for Navigation in Urban Areas," The International Journal of Robotics Research, in press.