SIMULTANEOUS LOCALIZATION AND MAPPING BASED ON MULTI-RATE FUSION OF LASER AND ENCODERS MEASUREMENTS

Leopoldo Armesto, Josep Tornero

Abstract

The SLAM problem in static environments with EKF is adapted for multi-rate sensor fusion of encoders and laser rangers. In addition, the formulation is general and can be adapted for any multi-rate sensor fusion application. The proposed algorithm, based on well-known techniques for feature extraction, data association and map building, is validated with some experimental results. This algorithm should been seen as a part of a complete autonomous robot navigation algorithm, also described in the paper.

References

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Paper Citation


in Harvard Style

Armesto L. and Tornero J. (2004). SIMULTANEOUS LOCALIZATION AND MAPPING BASED ON MULTI-RATE FUSION OF LASER AND ENCODERS MEASUREMENTS . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 435-439. DOI: 10.5220/0001136804350439


in Bibtex Style

@conference{icinco04,
author={Leopoldo Armesto and Josep Tornero},
title={SIMULTANEOUS LOCALIZATION AND MAPPING BASED ON MULTI-RATE FUSION OF LASER AND ENCODERS MEASUREMENTS},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={435-439},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001136804350439},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - SIMULTANEOUS LOCALIZATION AND MAPPING BASED ON MULTI-RATE FUSION OF LASER AND ENCODERS MEASUREMENTS
SN - 972-8865-12-0
AU - Armesto L.
AU - Tornero J.
PY - 2004
SP - 435
EP - 439
DO - 10.5220/0001136804350439