We shortly review a mobile robot localization method for known 2D environments, which we proposed in previous works; it is an evidence accumulation method where the complexity of working on a large grid is reduced by means of a multi-resolution scheme. We then elaborate a framework to define a set of weights which takes into account the different amount of information provided by each perception, i.e. sensor datum. The experimental activity presented, although the approach is independent on the sensory system, is currently based on perceptions coming from omnidirectional vision in an indoor environment
Restelli, M., Sorrenti, D., Marchese, F. (2004). A probabilistic framework for weighting different sensor data in MUREA. In RoboCup 2003: Robot Soccer World Cup VII (pp.678-685). Berlin Heidelberg : Springer Verlag [10.1007/978-3-540-25940-4_66].
A probabilistic framework for weighting different sensor data in MUREA
Sorrenti, D;Marchese, F
2004
Abstract
We shortly review a mobile robot localization method for known 2D environments, which we proposed in previous works; it is an evidence accumulation method where the complexity of working on a large grid is reduced by means of a multi-resolution scheme. We then elaborate a framework to define a set of weights which takes into account the different amount of information provided by each perception, i.e. sensor datum. The experimental activity presented, although the approach is independent on the sensory system, is currently based on perceptions coming from omnidirectional vision in an indoor environment
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
