NDLI: Self-localization of mobile robot in unknown environment

Content Provider	IEEE Xplore Digital Library
Author	Prozorov, A. Tyukin, A. Lebedev, I. Priorov, A.
Copyright Year	2015
Description	Author affiliation: P.G. Demidov Yaroslavl State Univ., Yaroslavl, Russia (Prozorov, A.; Tyukin, A.; Lebedev, I.; Priorov, A.)
Abstract	In this paper we propose a method for solving the SLAM problem for mobile robot when moving in an unknown environment. Our method takes computational advantages of the FastSLAM algorithm. To estimate the position of the robot, we use a particle filter. The weights for the set of particles that characterize the expected position of the robot, are determined by the condition number of the plane homography matrix. It can be considered as the projective mapping of points of the scene on the two-dimensional surface of camera sensor. A set of unscented Kalman filters is used to estimate the positions of detected landmarks which are forming the map of the observed environment. Methods for detecting and description of landmarks were not considered in this paper, as it is beyond the scope of this work.
Starting Page	173
Ending Page	178
File Size	232270
Page Count	6
File Format	PDF
ISBN	9785757704937
ISSN	23057254
DOI	10.1109/FRUCT.2015.7117989
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-04-20
Publisher Place	Russia
Access Restriction	Subscribed
Rights Holder	FRUCT Oy
Subject Keyword	Simultaneous localization and mapping Robot kinematics Robot vision systems Cameras Particle filters
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
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
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
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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