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Active exploration for feature based global localization
Autonomous System Laboratory, Swiss Federal Inst. of Technology, Switzerland.ORCID iD: 0000-0002-1170-7162
2000 (English)In: 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2000, p. 281-287Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents an algorithm for a mobile robot to actively explore the environment in order to achieve global localization. During the localization process interesting regions for future exploration are selected based on the detected features and on the hypotheses generated by the localization algorithm. The localization process is improved by presenting unique features to the robot's sensors. The proposed algorithm provides highly robust global localization in real world environments with very low computational effort spent in finding exploration goal points. Experimental results are given demonstrating the effectiveness of the algorithm in a number of different situations.

Place, publisher, year, edition, pages
2000. p. 281-287
National Category
Computer and Information Sciences
Identifiers
URN: urn:nbn:se:kth:diva-52969OAI: oai:DiVA.org:kth-52969DiVA, id: diva2:468269
Conference
2000 IEEE/RSJ International Conference on Intelligent Robots and Systems. Takamatsu. 31 October 2000 - 5 November 2000
Note
QC 20111221Available from: 2011-12-20 Created: 2011-12-20 Last updated: 2018-01-12Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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Output format
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