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

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

研究成果: 書貢獻/報告類型會議貢獻

摘要

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.

原文英語
主出版物標題Robot Intelligence Technology and Applications 4 - Results from the 4th International Conference on Robot Intelligence Technology and Applications
編輯Fakhri Karray, Jong-Hwan Kim, Hyun Myung, Jun Jo, Peter Sincak
發行者Springer Verlag
頁面55-64
頁數10
ISBN(列印)9783319312910
DOIs
出版狀態已發佈 - 2017 一月 1
事件4th International Conference on Robot Intelligence Technology and Applications, RiTA 2015 - Bucheon, 大韓民國
持續時間: 2015 十二月 142015 十二月 16

出版系列

名字Advances in Intelligent Systems and Computing
447
ISSN(列印)2194-5357

其他

其他4th International Conference on Robot Intelligence Technology and Applications, RiTA 2015
國家大韓民國
城市Bucheon
期間15/12/1415/12/16

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)

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  • 引用此

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