TY - GEN
T1 - Session 8
T2 - 11th International Symposium on Experimental Robotics, ISER 2008
AU - Roumeliotis, Stergios
PY - 2009
Y1 - 2009
N2 - This session consisted of five papers in the area of localization and mapping addressing challenges that stem from the nonlinear motion and measurement models involved and the need to reliably recognize locations described with laser or visual data.The first paper, "A Robust Method of Localization and Mapping Using Only Range" by Djugash and Singh, deals with the problem of simultaneous localization and mapping using range measurements. In this case, using an Extended Kalman filter (EKF) for estimating the robots' pose and landmarks' positions in Cartesian space is suboptimal and often leads to divergence and inconsistent estimates. This is due to the nonlinear measurement model that invalidates the Gaussian approximation. To address this issue, the authors introduce a new representation of the state vector in polar coordinates. The resulting estimator, the Relative Over-Parameterized (ROP)-EKF, is shown to be robust to large initialization errors and incorrect data associations. Additionally, it is able to operate with intermittent range measurements over large-scale experiments.
AB - This session consisted of five papers in the area of localization and mapping addressing challenges that stem from the nonlinear motion and measurement models involved and the need to reliably recognize locations described with laser or visual data.The first paper, "A Robust Method of Localization and Mapping Using Only Range" by Djugash and Singh, deals with the problem of simultaneous localization and mapping using range measurements. In this case, using an Extended Kalman filter (EKF) for estimating the robots' pose and landmarks' positions in Cartesian space is suboptimal and often leads to divergence and inconsistent estimates. This is due to the nonlinear measurement model that invalidates the Gaussian approximation. To address this issue, the authors introduce a new representation of the state vector in polar coordinates. The resulting estimator, the Relative Over-Parameterized (ROP)-EKF, is shown to be robust to large initialization errors and incorrect data associations. Additionally, it is able to operate with intermittent range measurements over large-scale experiments.
UR - http://www.scopus.com/inward/record.url?scp=84882988294&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84882988294&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-00196-3_39
DO - 10.1007/978-3-642-00196-3_39
M3 - Conference contribution
AN - SCOPUS:84882988294
SN - 9783642001956
T3 - Springer Tracts in Advanced Robotics
SP - 339
EP - 340
BT - Experimental Robotics - The Eleventh International Symposium
Y2 - 13 July 2008 through 16 July 2008
ER -