Probabilistic sensor data processing for robot localization on load-sensing floors
作者： Maxime Rio , Francis Colas , Mihai Andries , Francois Charpillet
DOI: 10.1109/ICRA.2016.7487654
关键词:
摘要: Load-sensing floors are capable of tracking objects without suffering from occlusions nor posing the same privacy issues as cameras. They have been mostly used to analyze human gait a way continuous diagnosis but could also be placed alongside robots help monitoring in specialized institutions, such elderly care facilities. However, large-scale deployments necessitate cheap sensors which do not necessarily offer precision. With more noisy sensors, lighter might difficult track and precisely localize. In this article, we investigate various models order estimate position robot. We experiment with several different weights compare models' estimates against ground truth measurements provided by motion capture system. show that standard-sized tiles 60 cm, can even less than 4 cm error.
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