Probabilistic Self-Localization and Mapping: An Asynchronous Multirate Approach

[EN] In this paper, we present a set of robust and efficient algorithms with O(N) cost for the solution of the Simultaneous Localization And Mapping (SLAM) problem of a mobile robot. First, we introduce a novel object detection method, which is mainly based on multiple line fitting method for landma...

ver descrição completa

Detalhes bibliográficos
Autores: Leopoldo Armesto|||0000-0003-0979-4428, Tornero Montserrat, Josep|||0000-0003-1571-0251, Ippoliti, Gianluca, Longhi, Sauro
Formato: artículo
Fecha de publicación:2008
País:España
Recursos:Universitat Politècnica de València (UPV)
Repositorio:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
Idioma:inglés
OAI Identifier:oai:riunet.upv.es:10251/152474
Acesso em linha:https://riunet.upv.es/handle/10251/152474
Access Level:acceso abierto
Palavra-chave:Multirate fusion
Probabilistic
Localization
Mapping
FastSLAM
INGENIERIA DE SISTEMAS Y AUTOMATICA
id ES_c03d2293d8763ca106b5b32cfd337d8f
oai_identifier_str oai:riunet.upv.es:10251/152474
network_acronym_str ES
network_name_str España
repository_id_str
spelling Probabilistic Self-Localization and Mapping: An Asynchronous Multirate ApproachLeopoldo Armesto|||0000-0003-0979-4428Tornero Montserrat, Josep|||0000-0003-1571-0251Ippoliti, GianlucaLonghi, SauroMultirate fusionProbabilisticLocalizationMappingFastSLAMINGENIERIA DE SISTEMAS Y AUTOMATICA[EN] In this paper, we present a set of robust and efficient algorithms with O(N) cost for the solution of the Simultaneous Localization And Mapping (SLAM) problem of a mobile robot. First, we introduce a novel object detection method, which is mainly based on multiple line fitting method for landmark detection with regular constrained angles. Second, a line-based pose estimation method is proposed, based on LeastSquares (LS). This method performs the matching of lines, providing the global pose estimation under assumption of known Data-Association. Finally, we extend the FastSLAM (FActored Solution To SLAM) algorithm for mobile robot self-localisation and mapping by considering the asynchronous sampling of sensors and actuators. In this sense, multi-rate asynchronous holds are used to interface signals with different sampling rates. Moreover, an asynchronous fusion method to predict and update mobile robot pose and map is also presented. In addition to this, FastSLAM 1.0 has been also improved by considering the estimated pose with the LS-approach to re-allocate each particle of the posterior distribution of the robot pose. This approach has a lower computational cost than the original Extended Kalman Filtering (EKF) approach in FastSLAM 2.0. All these methods have been combined in order to perform an efficient and robust self-localization and map building process. Additionally, these methods have been validated with experimental real data, in mobile robot moving on an unknown environment for solving the SLAM problem.This work has been supported by the Spanish Government (MCyT) research project BIA2005-09377-C03-02 and by the Italian Government (MIUR) research project PRIN2005097207.Institute of Electrical and Electronics EngineersDepartamento de Ingeniería de Sistemas y AutomáticaEscuela Técnica Superior de Ingeniería Aeroespacial y Diseño IndustrialInstituto de Diseño para la Fabricación y Producción AutomatizadaEscuela Técnica Superior de Ingeniería InformáticaMinistero dell'Istruzione dell'Università e della Ricerca, ItaliaMinisterio de Educación y CienciaRepositorio Institucional de la Universitat Politècnica de València Riunet20082008-06-01journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfapplication/pdfhttps://riunet.upv.es/handle/10251/152474reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valénciainstname:Universitat Politècnica de València (UPV)InglésengMinisterio de Educación y Ciencia https://doi.org/10.13039/501100008743 BIA2005-09377-C03-02 Técnicas de sensorizacion y reconstrucción 3D en sistemas robotizados de restauraciónMinistero dell'Istruzione dell'Università e della Ricerca, Italia https://doi.org/10.13039/501100003407 2005097207open accesshttp://purl.org/coar/access_right/c_abf2Reserva de todos los derechoshttp://rightsstatements.org/vocab/InC/1.0/info:eu-repo/semantics/openAccessoai:riunet.upv.es:10251/1524742026-06-13T07:49:27Z
dc.title.none.fl_str_mv Probabilistic Self-Localization and Mapping: An Asynchronous Multirate Approach
title Probabilistic Self-Localization and Mapping: An Asynchronous Multirate Approach
spellingShingle Probabilistic Self-Localization and Mapping: An Asynchronous Multirate Approach
Leopoldo Armesto|||0000-0003-0979-4428
Multirate fusion
Probabilistic
Localization
Mapping
FastSLAM
INGENIERIA DE SISTEMAS Y AUTOMATICA
title_short Probabilistic Self-Localization and Mapping: An Asynchronous Multirate Approach
title_full Probabilistic Self-Localization and Mapping: An Asynchronous Multirate Approach
title_fullStr Probabilistic Self-Localization and Mapping: An Asynchronous Multirate Approach
title_full_unstemmed Probabilistic Self-Localization and Mapping: An Asynchronous Multirate Approach
title_sort Probabilistic Self-Localization and Mapping: An Asynchronous Multirate Approach
dc.creator.none.fl_str_mv Leopoldo Armesto|||0000-0003-0979-4428
Tornero Montserrat, Josep|||0000-0003-1571-0251
Ippoliti, Gianluca
Longhi, Sauro
author Leopoldo Armesto|||0000-0003-0979-4428
author_facet Leopoldo Armesto|||0000-0003-0979-4428
Tornero Montserrat, Josep|||0000-0003-1571-0251
Ippoliti, Gianluca
Longhi, Sauro
author_role author
author2 Tornero Montserrat, Josep|||0000-0003-1571-0251
Ippoliti, Gianluca
Longhi, Sauro
author2_role author
author
author
dc.contributor.none.fl_str_mv Departamento de Ingeniería de Sistemas y Automática
Escuela Técnica Superior de Ingeniería Aeroespacial y Diseño Industrial
Instituto de Diseño para la Fabricación y Producción Automatizada
Escuela Técnica Superior de Ingeniería Informática
Ministero dell'Istruzione dell'Università e della Ricerca, Italia
Ministerio de Educación y Ciencia
Repositorio Institucional de la Universitat Politècnica de València Riunet
dc.subject.none.fl_str_mv Multirate fusion
Probabilistic
Localization
Mapping
FastSLAM
INGENIERIA DE SISTEMAS Y AUTOMATICA
topic Multirate fusion
Probabilistic
Localization
Mapping
FastSLAM
INGENIERIA DE SISTEMAS Y AUTOMATICA
description [EN] In this paper, we present a set of robust and efficient algorithms with O(N) cost for the solution of the Simultaneous Localization And Mapping (SLAM) problem of a mobile robot. First, we introduce a novel object detection method, which is mainly based on multiple line fitting method for landmark detection with regular constrained angles. Second, a line-based pose estimation method is proposed, based on LeastSquares (LS). This method performs the matching of lines, providing the global pose estimation under assumption of known Data-Association. Finally, we extend the FastSLAM (FActored Solution To SLAM) algorithm for mobile robot self-localisation and mapping by considering the asynchronous sampling of sensors and actuators. In this sense, multi-rate asynchronous holds are used to interface signals with different sampling rates. Moreover, an asynchronous fusion method to predict and update mobile robot pose and map is also presented. In addition to this, FastSLAM 1.0 has been also improved by considering the estimated pose with the LS-approach to re-allocate each particle of the posterior distribution of the robot pose. This approach has a lower computational cost than the original Extended Kalman Filtering (EKF) approach in FastSLAM 2.0. All these methods have been combined in order to perform an efficient and robust self-localization and map building process. Additionally, these methods have been validated with experimental real data, in mobile robot moving on an unknown environment for solving the SLAM problem.
publishDate 2008
dc.date.none.fl_str_mv 2008
2008-06-01
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://riunet.upv.es/handle/10251/152474
url https://riunet.upv.es/handle/10251/152474
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv Ministerio de Educación y Ciencia https://doi.org/10.13039/501100008743 BIA2005-09377-C03-02 Técnicas de sensorizacion y reconstrucción 3D en sistemas robotizados de restauración
Ministero dell'Istruzione dell'Università e della Ricerca, Italia https://doi.org/10.13039/501100003407 2005097207
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reserva de todos los derechos
http://rightsstatements.org/vocab/InC/1.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reserva de todos los derechos
http://rightsstatements.org/vocab/InC/1.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
dc.source.none.fl_str_mv reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
instname:Universitat Politècnica de València (UPV)
instname_str Universitat Politècnica de València (UPV)
reponame_str RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
collection RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
repository.name.fl_str_mv
repository.mail.fl_str_mv
_version_ 1869418460257189888
score 15,301603

Registos relacionados