NDLI: Estimating the Odometry Error of a Mobile Robot by Neural Networks

Content Provider	IEEE Xplore Digital Library
Author	Haoming Xu Collins, J.J.
Copyright Year	2009
Abstract	Localization is the accurate estimation of robot's current position and is critical for map building. Odometry modeling is one of the main approaches to solving the localization problem, the other being a sensor based correspondence solver. Currently few robot positioning systems support calibration of odometry errors in both feature rich indoor and landmark poor outdoor environments. To achieve good performance in various environments, the mobile robot has to be able to learn to localize in unknown environments, and reuse previously computed environment specific localization models. This paper presents a method combining the standard Back-Propagation technique and a feed-forward neural network model for odometry calibration for both synchronous and differential drive mobile robots. This novel method is compared with a generic localization module and an optimization based approach, and found to minimize odometry error because of its nonlinear input-output mapping ability. Experimental results demonstrate that the neural network approach incorporating Bayesian Regularization provides improved performance and relaxes constraints in the UMBmark method.
Starting Page	378
Ending Page	385
File Size	532076
Page Count	8
File Format	PDF
ISBN	9780769539263
DOI	10.1109/ICMLA.2009.96
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-12-13
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Buildings Calibration Covariance matrix Neural network Mobile robots Application software Odomtry error Computer science Neural networks Machine learning Computer errors Robot sensing systems Localization Mobile robot
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
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
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

Neural network based extended Kalman filter for localization of mobile robots

Accurate odometry and error modelling for a mobile robot

Simultaneous localization and odometry calibration for mobile robot

Evaluating the odometry error of a mobile robot

A possible strategy to evaluate the odometry error of a mobile robot

Measurement and Correction of Systematic Odometry Errors Caused by Kinematics Imperfections in Mobile Robots

The odometry error of a mobile robot with a synchronous drive system

The accuracy on the parameter estimation of an odometry system of a mobile robot

Estimation of mobile robot orientation using neural networks

Estimating the Odometry Error of a Mobile Robot by Neural Networks

Similar Documents

Neural network based extended Kalman filter for localization of mobile robots

Accurate odometry and error modelling for a mobile robot

Simultaneous localization and odometry calibration for mobile robot

Evaluating the odometry error of a mobile robot

A possible strategy to evaluate the odometry error of a mobile robot

Measurement and Correction of Systematic Odometry Errors Caused by Kinematics Imperfections in Mobile Robots

The odometry error of a mobile robot with a synchronous drive system

The accuracy on the parameter estimation of an odometry system of a mobile robot

Estimation of mobile robot orientation using neural networks

Estimating the Odometry Error of a Mobile Robot by Neural Networks