Simultaneous localization and mapping with a dynamic switching mechanism (SLAM-DSM)

Chun Hsiao Yeh, Herng Hua Chang, Chen Chien Hsu, Wei Yen Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we propose a simultaneous localization and mapping (SLAM) algorithm incorporating a dynamic switching mechanism to switch between FastSLAM 1.0 and 2.0, based on a threshold of effective sample size (ESS). By taking advantages of FastSLAM 1.0 and 2.0 through the proposed dynamic switching mechanism, execution efficiency is significantly improved while maintaining an acceptable accuracy of estimations. To show the effectiveness of our proposed approach in comparison to FastSLAM 1.0 and 2.0, several simulations are demonstrated in this paper.

Original languageEnglish
Title of host publicationRobot Intelligence Technology and Applications 4 - Results from the 4th International Conference on Robot Intelligence Technology and Applications
EditorsFakhri Karray, Jong-Hwan Kim, Hyun Myung, Jun Jo, Peter Sincak
PublisherSpringer Verlag
Pages55-64
Number of pages10
ISBN (Print)9783319312910
DOIs
Publication statusPublished - 2017 Jan 1
Event4th International Conference on Robot Intelligence Technology and Applications, RiTA 2015 - Bucheon, Korea, Republic of
Duration: 2015 Dec 142015 Dec 16

Publication series

NameAdvances in Intelligent Systems and Computing
Volume447
ISSN (Print)2194-5357

Other

Other4th International Conference on Robot Intelligence Technology and Applications, RiTA 2015
CountryKorea, Republic of
CityBucheon
Period15/12/1415/12/16

Fingerprint

Switches

Keywords

  • Extended kalman filter
  • FastSlam
  • Particle filter

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)

Cite this

Yeh, C. H., Chang, H. H., Hsu, C. C., & Wang, W. Y. (2017). Simultaneous localization and mapping with a dynamic switching mechanism (SLAM-DSM). In F. Karray, J-H. Kim, H. Myung, J. Jo, & P. Sincak (Eds.), Robot Intelligence Technology and Applications 4 - Results from the 4th International Conference on Robot Intelligence Technology and Applications (pp. 55-64). (Advances in Intelligent Systems and Computing; Vol. 447). Springer Verlag. https://doi.org/10.1007/978-3-319-31293-4_5

Simultaneous localization and mapping with a dynamic switching mechanism (SLAM-DSM). / Yeh, Chun Hsiao; Chang, Herng Hua; Hsu, Chen Chien; Wang, Wei Yen.

Robot Intelligence Technology and Applications 4 - Results from the 4th International Conference on Robot Intelligence Technology and Applications. ed. / Fakhri Karray; Jong-Hwan Kim; Hyun Myung; Jun Jo; Peter Sincak. Springer Verlag, 2017. p. 55-64 (Advances in Intelligent Systems and Computing; Vol. 447).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Yeh, CH, Chang, HH, Hsu, CC & Wang, WY 2017, Simultaneous localization and mapping with a dynamic switching mechanism (SLAM-DSM). in F Karray, J-H Kim, H Myung, J Jo & P Sincak (eds), Robot Intelligence Technology and Applications 4 - Results from the 4th International Conference on Robot Intelligence Technology and Applications. Advances in Intelligent Systems and Computing, vol. 447, Springer Verlag, pp. 55-64, 4th International Conference on Robot Intelligence Technology and Applications, RiTA 2015, Bucheon, Korea, Republic of, 15/12/14. https://doi.org/10.1007/978-3-319-31293-4_5
Yeh CH, Chang HH, Hsu CC, Wang WY. Simultaneous localization and mapping with a dynamic switching mechanism (SLAM-DSM). In Karray F, Kim J-H, Myung H, Jo J, Sincak P, editors, Robot Intelligence Technology and Applications 4 - Results from the 4th International Conference on Robot Intelligence Technology and Applications. Springer Verlag. 2017. p. 55-64. (Advances in Intelligent Systems and Computing). https://doi.org/10.1007/978-3-319-31293-4_5
Yeh, Chun Hsiao ; Chang, Herng Hua ; Hsu, Chen Chien ; Wang, Wei Yen. / Simultaneous localization and mapping with a dynamic switching mechanism (SLAM-DSM). Robot Intelligence Technology and Applications 4 - Results from the 4th International Conference on Robot Intelligence Technology and Applications. editor / Fakhri Karray ; Jong-Hwan Kim ; Hyun Myung ; Jun Jo ; Peter Sincak. Springer Verlag, 2017. pp. 55-64 (Advances in Intelligent Systems and Computing).
@inproceedings{ad7506a092784f18ad36ecabd927bf0d,
title = "Simultaneous localization and mapping with a dynamic switching mechanism (SLAM-DSM)",
abstract = "In this paper, we propose a simultaneous localization and mapping (SLAM) algorithm incorporating a dynamic switching mechanism to switch between FastSLAM 1.0 and 2.0, based on a threshold of effective sample size (ESS). By taking advantages of FastSLAM 1.0 and 2.0 through the proposed dynamic switching mechanism, execution efficiency is significantly improved while maintaining an acceptable accuracy of estimations. To show the effectiveness of our proposed approach in comparison to FastSLAM 1.0 and 2.0, several simulations are demonstrated in this paper.",
keywords = "Extended kalman filter, FastSlam, Particle filter",
author = "Yeh, {Chun Hsiao} and Chang, {Herng Hua} and Hsu, {Chen Chien} and Wang, {Wei Yen}",
year = "2017",
month = "1",
day = "1",
doi = "10.1007/978-3-319-31293-4_5",
language = "English",
isbn = "9783319312910",
series = "Advances in Intelligent Systems and Computing",
publisher = "Springer Verlag",
pages = "55--64",
editor = "Fakhri Karray and Jong-Hwan Kim and Hyun Myung and Jun Jo and Peter Sincak",
booktitle = "Robot Intelligence Technology and Applications 4 - Results from the 4th International Conference on Robot Intelligence Technology and Applications",

}

TY - GEN

T1 - Simultaneous localization and mapping with a dynamic switching mechanism (SLAM-DSM)

AU - Yeh, Chun Hsiao

AU - Chang, Herng Hua

AU - Hsu, Chen Chien

AU - Wang, Wei Yen

PY - 2017/1/1

Y1 - 2017/1/1

N2 - In this paper, we propose a simultaneous localization and mapping (SLAM) algorithm incorporating a dynamic switching mechanism to switch between FastSLAM 1.0 and 2.0, based on a threshold of effective sample size (ESS). By taking advantages of FastSLAM 1.0 and 2.0 through the proposed dynamic switching mechanism, execution efficiency is significantly improved while maintaining an acceptable accuracy of estimations. To show the effectiveness of our proposed approach in comparison to FastSLAM 1.0 and 2.0, several simulations are demonstrated in this paper.

AB - In this paper, we propose a simultaneous localization and mapping (SLAM) algorithm incorporating a dynamic switching mechanism to switch between FastSLAM 1.0 and 2.0, based on a threshold of effective sample size (ESS). By taking advantages of FastSLAM 1.0 and 2.0 through the proposed dynamic switching mechanism, execution efficiency is significantly improved while maintaining an acceptable accuracy of estimations. To show the effectiveness of our proposed approach in comparison to FastSLAM 1.0 and 2.0, several simulations are demonstrated in this paper.

KW - Extended kalman filter

KW - FastSlam

KW - Particle filter

UR - http://www.scopus.com/inward/record.url?scp=84978499713&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84978499713&partnerID=8YFLogxK

U2 - 10.1007/978-3-319-31293-4_5

DO - 10.1007/978-3-319-31293-4_5

M3 - Conference contribution

AN - SCOPUS:84978499713

SN - 9783319312910

T3 - Advances in Intelligent Systems and Computing

SP - 55

EP - 64

BT - Robot Intelligence Technology and Applications 4 - Results from the 4th International Conference on Robot Intelligence Technology and Applications

A2 - Karray, Fakhri

A2 - Kim, Jong-Hwan

A2 - Myung, Hyun

A2 - Jo, Jun

A2 - Sincak, Peter

PB - Springer Verlag

ER -