NDLI: Inferring motion uncertainty from shape-Matching

Content Provider	IEEE Xplore Digital Library
Author	Zuolei Sun van de Ven, J. Ramos, F. Xuchu Mao Durrant-Whyte, H.
Copyright Year	2010
Description	Author affiliation: ARC Centre of Excellence for Autonomous Systems, Australian Centre for Field Robotics, University of Sydney 2006, NSW, Australia (van de Ven, J.; Ramos, F.; Durrant-Whyte, H.) \|\| Navigation & Control Lab, Department of Instrumentation Engineering, School of Electronic, Information and Electrical Engineering, Shanghai Jiao Tong University, 200240, China (Zuolei Sun; Xuchu Mao)
Abstract	This paper proposes a novel method for computing robot motion uncertainty from ranging sensor data. The method utilises the recently proposed CRF-Matching procedure which matches laser scans based on shape descriptors. Motion estimates are computed in a probabilistic framework by performing inference on a probabilistic graphical model. We propose an efficient sampling procedure for obtaining probable association hypothesis of the probabilistic graphical model. The hypothesis are used to generate estimates on the uncertainty of translational and rotational movements of the robot. Experiments demonstrate the benefits of the approach on simulated data sets and on laser scans from an urban environment. The approach is also combined with the well-established delayed-state information filter for a large-scale outdoor simultaneous localisation and mapping task.
Starting Page	115
Ending Page	120
File Size	1741459
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509374
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Uncertainty Laser modes Graphical models Robot motion Shape Motion estimation Sampling methods Delay Information filters Large-scale systems
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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
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