Computationally efficient algorithm for simultaneous localization and mapping (SLAM)

Cheng Kai Yang, Chen Chien Hsu, Yin Tien Wang

研究成果: 書貢獻/報告類型會議論文篇章

11 引文 斯高帕斯(Scopus)

摘要

FastSLAM is a popular method to solve the problem of simultaneous localization and mapping. However, when the number of landmarks present in real environments increases, there are excessive comparisons of the measurement with all the existing landmarks in particles. As a result, the execution speed would be too slow to achieve the objective of real-time design. As an attempt to solve this problem, this paper presents an enhanced architecture for FastSLAM called computationally efficient SLAM (CESLAM), where odometer information is considered for updating the robot's pose in particles. When a measurement has a maximum likelihood with the known landmark in the particle, the particle state is updated before updating the landmark estimates. Simulation results show that the proposed algorithm in this paper can overcome the problem of the time-consuming process due to unnecessary comparisons and improve the accuracy of localization and mapping.

原文英語
主出版物標題2013 10th IEEE International Conference on Networking, Sensing and Control, ICNSC 2013
頁面328-332
頁數5
DOIs
出版狀態已發佈 - 2013 八月 14
事件2013 10th IEEE International Conference on Networking, Sensing and Control, ICNSC 2013 - Evry, 法国
持續時間: 2013 四月 102013 四月 12

出版系列

名字2013 10th IEEE International Conference on Networking, Sensing and Control, ICNSC 2013

其他

其他2013 10th IEEE International Conference on Networking, Sensing and Control, ICNSC 2013
國家/地區法国
城市Evry
期間2013/04/102013/04/12

ASJC Scopus subject areas

  • 電腦網路與通信
  • 控制與系統工程

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