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Authors: Younes Raoui 1 ; Michel Devy 2 ; El Houssine Bouyakhf 3 and Fakhita Regragui 3

Affiliations: 1 University Mohamed, CNRS, LAAS and Université de Toulouse, Morocco ; 2 CNRS, LAAS and Université de Toulouse, France ; 3 University Mohamed, Morocco

ISBN: 978-989-8425-75-1

Keyword(s): Mobile robot, Mapping, Extended Kalman filter, Particle filter, Monte-Carlo Localization, RFID.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Modeling, Simulation and Architectures ; Robotics and Automation ; Vehicle Control Applications

Abstract: This article deals with Simultaneous Localization andMapping for an indoor robot equipped with a camera and RFID antennas. RFID tags are sparsely disseminated in the environment. First RFID-based self-localization is considered; the robot position is predicted from odometry; it is corrected first by a sequential Monte-Carlo localization based on a particle filter. An active strategy built on the theoretical basis of information entropy is applied in order to improve the position accuracy. Then two methods for RFID-based mapping are described, considering the robot pose is given from natural visual landmarks learnt by a classical visual SLAM function.

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Paper citation in several formats:
Raoui, Y.; Devy, M.; Bouyakhf, E. and Regragui, F. (2011). COMPARING DETERMINIST AND PROBABILISTIC METHODS FOR RFID-BASED SELF-LOCALIZATION AND MAPPING.In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-75-1, pages 211-216. DOI: 10.5220/0003533802110216

@conference{icinco11,
author={Younes Raoui. and Michel Devy. and El Houssine Bouyakhf. and Fakhita Regragui.},
title={COMPARING DETERMINIST AND PROBABILISTIC METHODS FOR RFID-BASED SELF-LOCALIZATION AND MAPPING},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2011},
pages={211-216},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003533802110216},
isbn={978-989-8425-75-1},
}

TY - CONF

JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - COMPARING DETERMINIST AND PROBABILISTIC METHODS FOR RFID-BASED SELF-LOCALIZATION AND MAPPING
SN - 978-989-8425-75-1
AU - Raoui, Y.
AU - Devy, M.
AU - Bouyakhf, E.
AU - Regragui, F.
PY - 2011
SP - 211
EP - 216
DO - 10.5220/0003533802110216

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