NDLI: Gaussian mixture-sound field landmark model for robot localization

Content Provider	IEEE Xplore Digital Library
Author	Li Wei Wu Chieh-Cheng Cheng Wei-Han Liu Jwu-Sheng Hu
Copyright Year	2005
Description	Author affiliation: Dept. of Electr. & Control Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan (Li Wei Wu)
Abstract	This investigation proposes a robust robot localization system. The system contains a novel Gaussian mixture-sound field landmark model (GM-SFLM) and can localize the robot accurately in noisy environments. Moreover, the proposed method depends nothing on the geometry relation between source locations and two microphones; it is able to cover both near-field and far-field problems. With this proposed GM-SFLM, we can localize robot in 2-dimensional indoor environments. Furthermore, we realize the GM-SFLM into a quadruped robot system composed of an eRobot and a robot agent by using embedded Ethernet technology. The experiment demonstrates that when the robot is completely non-line-of-sight, this system still provides high detection accuracy. Additionally, the proposed method has advantages of high accuracy, low-cost, easy to implement and environmental adaptation.
Starting Page	438
Ending Page	443
File Size	313299
Page Count	6
File Format	PDF
ISBN	078039044X
DOI	10.1109/ICMA.2005.1626587
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-07-29
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot localization Microphones Robot sensing systems Acoustic sensors Sensor arrays Image sensors Wireless sensor networks Acoustic noise Radio navigation Costs
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
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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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