Improving Robot Localization Using Doppler-Based Variable Sensor Covariance Calculation
نویسندگان
چکیده
منابع مشابه
Improving Video-Based Robot Self Localization Through Outlier Removal
The purpose of this paper is to present a method for rejecting false matches of points from successive views in a video sequence – e.g., one used to perform Pose from Motion for a mobile sensing platform. Invariably, the algorithms used to determine point correspondences between two images output false matches along with the true. These false matches negatively impact the calculations required ...
متن کاملSensor planning for mobile robot localization using Bayesian network inference
We propose a new method of sensor planning for mobile robot localization using Bayesian network inference. Since we can model causal relations between situations of the robot's behavior and sensing events as nodes of a Bayesian network, we can use the inference of the network for dealing with uncertainty in sensor planning and thus derive appropriate sensing actions. In this system we employ a ...
متن کاملLocalization for Mobile Robot Using Sensor Fusion and Landmark
In this paper, we present the method of localization system that uses iGPS (indoor GPS) sensor and Omni-directional vision sensor in the environment involving land mark. The indoor GPS (iGPS) is a simple and cheap localization sensor in the indoor environment. However, the error range of iGPS is too wide to be used in a small size robot. This paper presents a more accurate method of localizatio...
متن کاملHybrid Inference for Sensor Network Localization Using a Mobile Robot
In this paper, we consider a hybrid solution to the sensor network position inference problem, which combines a real-time filtering system with information from a more expensive, global inference procedure to improve accuracy and prevent divergence. Many online solutions for this problem make use of simplifying assumptions, such as Gaussian noise models and linear system behaviour and also adop...
متن کاملDistributed localization using acoustic Doppler
It is well-known that the motion of an acoustic source can be estimated from Doppler shift observations. It is however not obvious how to design a sensor network to efficiently deliver the localization service. In this work a rather simplistic motion model is proposed that is aimed at sensor networks with realistic numbers of sensor nodes. It is also described how to efficiently solve the assoc...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Sensors
سال: 2020
ISSN: 1424-8220
DOI: 10.3390/s20082287