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http://dx.doi.org/10.5391/JKIIS.2011.21.3.329

Location Estimation and Obstacle tracking using Laser Scanner for Indoor Mobile Robots  

Choi, Bae-Hoon (연세대학교 전기전자공학과)
Kim, Beom-Seong (연세대학교 전기전자공학과)
Kim, Eun-Tai (연세대학교 전기전자공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.21, no.3, 2011 , pp. 329-334 More about this Journal
Abstract
This paper presents the method for location estimation with obstacle tracking method. A laser scanner is used to implement the system, and we assume that the map information is known. We matches the measurement of the laser scanner to estimate the location of the robot by using sequential monte carlo (SMC) method. After estimating the robot's location, the pose of obstacles are detected and tracked, hence, we can predict the collision risk of them. Finally, we present the experiment results to verify the proposed method.
Keywords
Location Estimation; Obstacle Detection; Obstacle Tracking; Indoor Mobile Robot;
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