1A1-E32 Map Building and Localization of Home Robot using Feature Matching and Monte Carlo Approach

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概要

• 論文の詳細を見る

• The paper presents a new approach to the problem of map building and simultaneous localization (SLAM), originally developed by this research. The global map is built by continuously matching the feature polylines obtained from the laser ranger finder. The odometry error between each constitutive step can be eliminated by the global map, which was built in the previous step. The localization of the robot is done using the Monte Carlo approach. The experimental result is obtained by Home Robot, developed by Toshiba Corporation.

• 一般社団法人日本機械学会の論文

著者

• Matsuhira Nobuto

  Tokyo Tech & Toshiba

• Ahmad Nafis

  Tokyo Institute Of Technology

• Zhu Jiang

  Tokyo Institute of Technology

• Nakamoto Hideichi

  Corporate R&D Center, Toshiba Corporation

• Matsuhira Nobuto

  Tokyo Institute Of Technology:toshiba Corporation

• Nakamoto Hideichi

  Corporate R&d Center Toshiba Corporation

関連論文

• 1A1-E32 Map Building and Localization of Home Robot using Feature Matching and Monte Carlo Approach
• 2P1-N-052 Robust Mobile Robot Map Building Using Sonar and Vision : Evolving the navigation abilities of the ApriAlpha home robot(Home Robot and Mechatronics 2,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)
• Probabilistic Robotics Localization for Mobile Robot

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