Trabajo presentado al IROS 2009 celebrado en Saint Louis (EE.UU.) del 10 al 15 de octubre. ; This paper presents an asynchronous particle filter algorithm for mobile robot position tracking, taking into account time considerations when integrating observations being delayed or advanced from the prior estimate time point. The interest of that filter lies in cooperative environments and in fast vehicles. The paper studies the first case, where a sensor network shares perception data with running robots that receive accurate observations with large delays due to acquisition, processing and wireless communications. Promising simulated results comparing a basic particle filter and the proposed one are shown. The paper also investigates a situation where a robot is tracking its position, fusing only odometry and observations from a camera network partially covering the robot path. ; This work was supported by projects: 'Ubiquitous networking robotics in urban settings' (E-00938), 'CONSOLIDER-INGENIO 2010 Multimodal interaction in pattern recognition and computer vision' (V-00069), 'Robotica ubicua para entornos urbanos' (J-01225). Partially supported by Consolider Ingenio 2010, project CSD 2007-00018, CICYT project DPI 2007-61452, and IST-045062 of the European Community Union. ; Peer Reviewed
Integrating asynchronous observations for mobile robot position tracking in cooperative environments
2009-01-01
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DDC: | 629 |
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