NDLI: Negative information and line observations for Monte Carlo localization

Content Provider	IEEE Xplore Digital Library
Author	Hester, T. Stone, P.
Copyright Year	2008
Description	Author affiliation: Dept. of Comput. Sci., Univ. of Texas at Austin, Austin, TX (Hester, T.; Stone, P.)
Abstract	Localization is a very important problem in robotics and is critical to many tasks performed on a mobile robot. In order to localize well in environments with few landmarks, a robot must make full use of all the information provided to it. This paper moves towards this goal by studying the effects of incorporating line observations and negative information into the localization algorithm. We extend the general Monte Carlo localization algorithm to utilize observations of lines such as carpet edges. We also make use of the information available when the robot expects to see a landmark but does not, by incorporating negative information into the algorithm. We compare our implementations of these ideas to previous similar approaches and demonstrate the effectiveness of these improvements through localization experiments performed both on a Sony AIBO ERS-7 robot and in simulation.
Starting Page	2764
Ending Page	2769
File Size	159929
Page Count	6
File Format	PDF
ISBN	9781424416462
ISSN	10504729
DOI	10.1109/ROBOT.2008.4543629
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-05-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Monte Carlo methods Mobile robots Robotics and automation Rivers Filtering Legged locomotion Robot vision systems USA Councils Poles and towers Robot localization
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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