NDLI: Automatic position estimation of a mobile robot

Content Provider	IEEE Xplore Digital Library
Author	Thomas, J.I. Oliensis, J.
Copyright Year	1993
Description	Author affiliation: Dept. of Comput. Sci., Massachusetts Univ., Amhert, MA, USA (Thomas, J.I.; Oliensis, J.)
Abstract	Traditionally, the position of a moving robot is monitored in an environment by using a 3D model of the scene and a 2D view of the scene from the current position of the robot. The authors propose automating the model generation step by using a robust model acquisition algorithm which also provides an estimate of the error in the acquired model. They show that the acquired 3D model along with the error estimate is reliable enough for a position estimation algorithm. The main contribution is a coupling of an automatic 3D model acquisition algorithm with a position estimation algorithm, resulting in an automatic position estimation algorithm. The second important contribution is an analysis of current 3D model acquisition algorithms in order to select the best algorithms to be coupled to the position estimation algorithm. The automatic position estimation algorithm developed consists of a bootstrapping stage for model acquisition followed by a stage for the estimation of the robot position.<>
Starting Page	438
Ending Page	444
File Size	534978
Page Count	7
File Format	PDF
ISBN	0818638400
DOI	10.1109/CAIA.1993.366634
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1993-03-01
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Layout Image reconstruction Robustness Computer errors Algorithm design and analysis Robot motion Robot vision systems Cameras Computer science
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
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8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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