Location Estimation and Obstacle tracking using Laser Scanner for Indoor Mobile Robots
作者： Bae-Hoon Choi , Beom-Seong Kim , Eun-Tai Kim
DOI: 10.5391/JKIIS.2011.21.3.329
关键词: Geography 、 Mobile robot 、 Artificial intelligence 、 Tracking (particle physics) 、 Obstacle 、 Laser scanning 、 Collision risk 、 Particle filter 、 Robot 、 Computer vision
摘要: This paper presents the method for location estimation with obstacle tracking method. A laser scanner is used to implement system, and we assume that map information known. We matches measurement of estimate robot by using sequential monte carlo (SMC) After estimating robot`s location, pose obstacles are detected tracked, hence, can predict collision risk them. Finally, present experiment results verify proposed
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