NDLI: A metric approach for simultaneous localization and map building

Content Provider	IEEE Xplore Digital Library
Author	Slimane, N. Chafaa, K. Khireddine, M.S.
Copyright Year	2013
Description	Author affiliation: Electron. Dept., Univ. of Batna, Batna, Algeria (Chafaa, K.) \|\| Robotic & Productic Lab., Univ. of Batna, Batna, Algeria (Khireddine, M.S.) \|\| Adv. Electron. Lab., Univ. of Batna, Batna, Algeria (Slimane, N.)
Abstract	Simultaneous localization and mapping is a stochastic map building method which permits consistent robot navigation without requiring an a priori map. The map is built incrementally as the robot observes the environment with its on-board sensors and, at the same time, is used to localise the robot. In this paper simultaneous localization and map building is performed with a metric approach which permits both precision and robustness. The most important innovation of the approach is the way how errors in the control of robot localisation are handled by map building using the information of the landmarks localization. The method uses data from a laser scanner to extract distances and orientations of landmark and combines control localization and metric paradigm. The metric approach, based on the Kalman Filter, uses a new concept to avoid the problem of the drift in odometry. The simulation section will validate the maps representation approach and presents different aspect of environments.
Starting Page	54
Ending Page	59
File Size	1007715
Page Count	6
File Format	PDF
ISBN	9781467358255
DOI	10.1109/CSIT.2013.6588758
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-03-27
Publisher Place	Jordan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Measurement landmarks detection SLAM Robot kinematics Buildings real-time control extended Kalman filter Robot sensing systems map building Covariance matrices mobile robot localization Vehicles
Content Type	Text
Resource Type	Article

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