지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
이용수
초록· 키워드
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This paper suggests a new observation model for Extended Kalman Filter based Simultaneous Localization and Mapping (EKF-SLAM). Since the EKF framework linearizes non-linear functions around the current estimate, the conventional line model has large linearization errors when a mobile robot locates faraway from its initial position. On the other hand, the model that we propose yields less linearization error with respect to the landmark position and thus suitable in a large-scale environment. To achieve it, we build up a three-dimensional space by adding a virtual axis to the robot’s two-dimensional coordinate system and extract a plane by using a detected line on the two-dimensional space and the virtual axis. Since Jacobian matrix with respect to the landmark position has small value, we can estimate the position of landmarks better than the conventional line model. The simulation results verify that the new model yields less linearization errors than the conventional line model.
목차
Abstract
1. 서론
2. 문제 정의
3. 제안된 관찰 모델
4. 시뮬레이션 결과
5. 결론
참고문헌
참고문헌 (7)
참고문헌 신청
1. [학술대회논문] - T. Bailey / 2006 / Consistency of the EKF-SLAM algorithm / in Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems 3562 (3568)
2. [학술대회논문] - N. L. Doh / 2010 / Novel Line Representation with Consistent Second Order Statistics for SLAM Applications / 5th International Conference on the Advanced Mechatronics : 253 ~ 258
3. [학술지(정기간행물)] - J. Folkesson / 2007 / The MSpace feature representation for SLAM / IEEE Trans. on Robotics 23 : 1024 ~ 1035
4. [학술대회논문] - A. Garulli / 2005 / Simultaneous localization and map building using linear features / Proc. of the 2nd European Conference on Mobile Robots : 44 ~ 49
5. [학술지(정기간행물)] - C. Fulgenzia / 2005 / Experimental validation of FastSLAM algorithmintegrated with a linear features based map / Mechatronics 19 : 44 ~ 49
2. [학술대회논문] - N. L. Doh / 2010 / Novel Line Representation with Consistent Second Order Statistics for SLAM Applications / 5th International Conference on the Advanced Mechatronics : 253 ~ 258
3. [학술지(정기간행물)] - J. Folkesson / 2007 / The MSpace feature representation for SLAM / IEEE Trans. on Robotics 23 : 1024 ~ 1035
4. [학술대회논문] - A. Garulli / 2005 / Simultaneous localization and map building using linear features / Proc. of the 2nd European Conference on Mobile Robots : 44 ~ 49
5. [학술지(정기간행물)] - C. Fulgenzia / 2005 / Experimental validation of FastSLAM algorithmintegrated with a linear features based map / Mechatronics 19 : 44 ~ 49
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UCI(KEPA) : I410-ECN-0101-2020-559-001259105