A laser scanner based mobile robust SLAM algorithm with improved convergence properties

G. S. Lionis; K. J. Kyriakopoulos

A laser scanner based mobile robust SLAM algorithm with improved convergence properties

G. S. Lionis, K. J. Kyriakopoulos

Electrical Engineering

Research output: Contribution to conference › Paper › peer-review

Abstract

We have developed a laser scanner based simultaneous localization and map building method, specifically addressing the divergence problem of the classical Extended Kalman Filters (EKF) based Simultaneous Localization and Map Building (SLAM) algorithms. Our method utilizes two EKFs. The first is used to estimate the orientations of the MR and the obstacles, and the second estimates the positions of the MR and of the obstacles. Experimental results are also presented to verify our arguments.

Original language	English (US)
Pages	582-587
Number of pages	6
State	Published - 2002
Event	2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland Duration: Sep 30 2002 → Oct 4 2002

Conference

Conference	2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	Switzerland
City	Lausanne
Period	9/30/02 → 10/4/02

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Cite this

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title = "A laser scanner based mobile robust SLAM algorithm with improved convergence properties",

abstract = "We have developed a laser scanner based simultaneous localization and map building method, specifically addressing the divergence problem of the classical Extended Kalman Filters (EKF) based Simultaneous Localization and Map Building (SLAM) algorithms. Our method utilizes two EKFs. The first is used to estimate the orientations of the MR and the obstacles, and the second estimates the positions of the MR and of the obstacles. Experimental results are also presented to verify our arguments.",

author = "Lionis, {G. S.} and Kyriakopoulos, {K. J.}",

year = "2002",

language = "English (US)",

pages = "582--587",

note = "2002 IEEE/RSJ International Conference on Intelligent Robots and Systems ; Conference date: 30-09-2002 Through 04-10-2002",

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T1 - A laser scanner based mobile robust SLAM algorithm with improved convergence properties

AU - Lionis, G. S.

AU - Kyriakopoulos, K. J.

PY - 2002

Y1 - 2002

N2 - We have developed a laser scanner based simultaneous localization and map building method, specifically addressing the divergence problem of the classical Extended Kalman Filters (EKF) based Simultaneous Localization and Map Building (SLAM) algorithms. Our method utilizes two EKFs. The first is used to estimate the orientations of the MR and the obstacles, and the second estimates the positions of the MR and of the obstacles. Experimental results are also presented to verify our arguments.

AB - We have developed a laser scanner based simultaneous localization and map building method, specifically addressing the divergence problem of the classical Extended Kalman Filters (EKF) based Simultaneous Localization and Map Building (SLAM) algorithms. Our method utilizes two EKFs. The first is used to estimate the orientations of the MR and the obstacles, and the second estimates the positions of the MR and of the obstacles. Experimental results are also presented to verify our arguments.

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UR - http://www.scopus.com/inward/citedby.url?scp=0036448807&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:0036448807

SP - 582

EP - 587

T2 - 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 30 September 2002 through 4 October 2002

ER -

A laser scanner based mobile robust SLAM algorithm with improved convergence properties

Abstract

Conference

ASJC Scopus subject areas

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