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ICRA
2009
IEEE

Inferring a probability distribution function for the pose of a sensor network using a mobile robot

9 years 6 months ago
Inferring a probability distribution function for the pose of a sensor network using a mobile robot
— In this paper we present an approach for localizing a sensor network augmented with a mobile robot which is capable of providing inter-sensor pose estimates through its odometry measurements. We present a stochastic algorithm that samples efficiently from the probability distribution for the pose of the sensor network by employing Rao-Blackwellization and a proposal scheme which exploits the sequential nature of odometry measurements. Our algorithm automatically tunes itself to the problem instance and includes a principled stopping mechanism based on convergence analysis. We demonstrate the favourable performance of our approach compared to that of established methods via simulations and experiments on hardware.
David Meger, Dimitri Marinakis, Ioannis M. Rekleit
Added 23 May 2010
Updated 23 May 2010
Type Conference
Year 2009
Where ICRA
Authors David Meger, Dimitri Marinakis, Ioannis M. Rekleitis, Gregory Dudek
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