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An experimental comparison of localisation methods, the MHL sessions
KTH, Superseded Departments, Numerical Analysis and Computer Science, NADA. (Centre for Autonomous Systems)ORCID iD: 0000-0002-1170-7162
2003 (English)In: IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, New York: IEEE , 2003, 992-997 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we compare multi hypothesis localisation (MHL)-which is a mobile robot localisation method based on multi hypothesis tracking-with six other methods reported in the literature. The comparison is performed using a standard set of test data and corresponding evaluation tools, thus facilitating a direct comparison of the obtained results. The experiments show that MHL compares favourably to all other methods in terms of recovering when The robot has been kidnapped. When using a validation gate for filtering out noisy measurements, MHL and the standard extended Kalman filter both perform as well as all other reported methods in terms of accuracy while being faster to compute.

Place, publisher, year, edition, pages
New York: IEEE , 2003. 992-997 p.
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-52923ISI: 000187883300161ISBN: 0-7803-7860-1 (print)OAI: oai:DiVA.org:kth-52923DiVA: diva2:468249
Conference
2003 IEEE/RSJ International Conference on Intelligent Robots and Systems; Las Vegas, NV; 27 October 2003 through 31 October 2003
Note
QC 20111221Available from: 2011-12-20 Created: 2011-12-20 Last updated: 2011-12-21Bibliographically approved

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Jensfelt, Patric

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