NDLI: A comparison of SLAM algorithms with range only sensors

Content Provider	IEEE Xplore Digital Library
Author	Herranz, F. Llamazares, A. Molinos, E. Ocana, M.
Copyright Year	2014
Description	Author affiliation: Dept. of Electron., Univ. of Alcala, Alcalá de Henares, Spain (Herranz, F.; Llamazares, A.; Molinos, E.; Ocana, M.)
Abstract	Localization and mapping in indoor environments, such as airports and hospitals, are key tasks for almost every robotic platform. Some researchers suggest the use of RO (Range Only) sensors based on WiFi (Wireless Fidelity) technology with SLAM (Simultaneous Localization And Mapping) techniques. The current state of the art in RO SLAM is mainly focused on the filtering approach, while the study of smoothing approach with RO sensors is quite incomplete. This paper presents a comparison between a filtering algorithm, the EKF, and a smoothing algorithm, the SAM (Smoothing And Mapping). Experimental results are obtained, first in an outdoor environment using two types of RO sensors and then in an indoor environment with WiFi sensors. The results demonstrate the feasibility of the smoothing approach with WiFi sensors in indoors.
Starting Page	4606
Ending Page	4611
File Size	2884481
Page Count	6
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6907532
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Simultaneous localization and mapping IEEE 802.11 Standards Smoothing methods Robot kinematics Indoor environments
Content Type	Text
Resource Type	Article

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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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