TY - GEN
T1 - Multiple hypothesis tracking for mobile robot localizaiton
AU - Choi, Hyukdoo
AU - Kim, Euntai
AU - Park, Yong Woon
AU - Kim, Chong Hui
PY - 2012
Y1 - 2012
N2 - Global localization has been studied as a challenging problem in mobile robotics for decades. This paper presents an efficient solution to global localization which includes hypothesis generation, tracking, and elimination process. A combination of a line feature and a point feature can specify the hypotheses of the robot's pose in the map. We keep track of the hypotheses by Monte Carlo localization in which a hypothesis is represented by a set of particles. The false hypotheses are removed when the new hypotheses are generated. Simulations were conducted to prove its performance. The simulation results show that our method outperforms the former methods.
AB - Global localization has been studied as a challenging problem in mobile robotics for decades. This paper presents an efficient solution to global localization which includes hypothesis generation, tracking, and elimination process. A combination of a line feature and a point feature can specify the hypotheses of the robot's pose in the map. We keep track of the hypotheses by Monte Carlo localization in which a hypothesis is represented by a set of particles. The false hypotheses are removed when the new hypotheses are generated. Simulations were conducted to prove its performance. The simulation results show that our method outperforms the former methods.
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M3 - Conference contribution
AN - SCOPUS:84869451876
SN - 9781467322591
T3 - Proceedings of the SICE Annual Conference
SP - 1574
EP - 1578
BT - 2012 Proceedings of SICE Annual Conference, SICE 2012
PB - Society of Instrument and Control Engineers (SICE)
T2 - 2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012
Y2 - 20 August 2012 through 23 August 2012
ER -