NDLI: Adaptive real-time particle filters for robot localization

Content Provider	IEEE Xplore Digital Library
Author	Kwok, C. Fox, D. Meila, M.
Copyright Year	2003
Description	Author affiliation: Dept. of Comput. Sci. & Eng., Washington Univ., Seattle, WA, USA (Kwok, C.; Fox, D.)
Abstract	Particle filters have recently been applied with great success to mobile robot localization. This success is mostly due to their simplicity and their ability to represent arbitrary, multi-modal densities over a robot's state space. The increased representational power, however, comes at the cost of higher computational complexity. In this paper we introduce adaptive real-time particle filters that greatly increase the performance of particle filters under limited computational resources. Our approach improves the efficiency of state estimation by adapting the size of sample sets on-the-fly. Furthermore, even when large sample sets are needed to represent a robot's uncertainty, the approach takes every sensor measurement into account, thereby avoiding the risk of losing valuable sensor information during the update of the filter. We demonstrate empirically that this new algorithm drastically improves the performance of particle filters for robot localization.
Sponsorship	IEEE Robotics & Autom. Soc. Nat. Sci. Council, Taiwan, Ministr. Educ., Taiwan
Starting Page	2836
Ending Page	2841
File Size	459585
Page Count	6
File Format	PDF
ISBN	0780377362
ISSN	10504729
DOI	10.1109/ROBOT.2003.1242022
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-09-14
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Particle filters Robot localization Mobile robots Orbital robotics State-space methods Computational efficiency Computational complexity State estimation Robot sensing systems Information filtering
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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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
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