A Robust Regression Model for Simultaneous Localization and Mapping in Autonomous Mobile Robot

被引:0
|
作者
Xinzheng Zhang
Ahmad B. Rad
Yiu-Kwong Wong
机构
[1] The Hong Kong Polytechnic University,Department of Electrical Engineering
[2] School of Engineering Science,Simon Fraser University
[3] Mechatronics Systems Engineering,undefined
关键词
Autonomous mobile robot; Robust regression; Segment-based map; SLAM;
D O I
暂无
中图分类号
学科分类号
摘要
Segment-based maps as sub-class of feature-based mapping have been widely applied in simultaneous localization and map building (SLAM) in autonomous mobile robots. In this paper, a robust regression model is proposed for segment extraction in static and dynamic environments. We adopt the MM-estimate to consider the noise of sensor data and the outliers that correspond to dynamic objects such as the people in motion. MM-estimates are interesting as they combine high efficiency and high breakdown point in a simple and intuitive way. Under the usual regularity conditions, including symmetric distribution of the errors, these estimates are strongly consistent and asymptotically normal. This robust regression technique is integrated with the extended Kalman filter (EKF) to build a consistent and globally accurate map. The EKF is used to estimate the pose of the robot and state of the segment feature. The underpinning experimental results that have been carried out in static and dynamic environments illustrate the performance of the proposed segment extraction method.
引用
收藏
页码:183 / 202
页数:19
相关论文
共 50 条
  • [1] A robust regression model for simultaneous localization and mapping in autonomous mobile robot
    Zhang, Xinzheng
    Rad, Ahmad B.
    Wong, Yiu-Kwong
    [J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2008, 53 (02) : 183 - 202
  • [2] Simultaneous Localization and Mapping in Application to Autonomous Robot
    Agunbiade, Olusanya
    Zuva, Tranos
    [J]. 2018 INTERNATIONAL CONFERENCE ON INTELLIGENT AND INNOVATIVE COMPUTING APPLICATIONS (ICONIC), 2018, : 501 - 505
  • [3] Simultaneous localization and mapping on a mobile robot platform
    Lucan, Martin
    Duchon, Frantisek
    Gulan, Martin
    [J]. 2020 23RD IEEE INTERNATIONAL SYMPOSIUM ON MEASUREMENT AND CONTROL IN ROBOTICS (ISMCR), 2020,
  • [4] Active mobile robot simultaneous localization and mapping
    Zhang, Nan
    Li, Maohai
    Hong, Bingrong
    [J]. 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3, 2006, : 1676 - +
  • [5] Uncalibrated Monocular based Simultaneous Localization and Mapping for Indoor Autonomous Mobile Robot Navigation
    Fu, Siyao
    Yang, Guosheng
    [J]. 2009 IEEE INTERNATIONAL CONFERENCE ON NETWORKING, SENSING AND CONTROL, VOLS 1 AND 2, 2009, : 653 - 658
  • [7] Robust Iterated Sigma Point FastSLAM Algorithm for Mobile Robot Simultaneous Localization and Mapping
    Song Yu
    Song Yongduan
    Li Qingling
    [J]. CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2011, 24 (04) : 693 - 700
  • [8] Robust iterated sigma point FastSLAM algorithm for mobile robot simultaneous localization and mapping
    Center for Intelligent System and Renewable Energy, Beijing Jiaotong University, Beijing 100044, China
    不详
    不详
    [J]. Chin J Mech Eng Engl Ed, 4 (693-700):
  • [9] Simultaneous localization and mapping using an RGB-D camera for autonomous mobile robot navigation
    Macias, Luis Rodolfo
    Orozco-Rosas, Ulises
    Picos, Kenia
    [J]. OPTICS AND PHOTONICS FOR INFORMATION PROCESSING XV, 2021, 11841
  • [10] A robust navigation model for an autonomous mobile robot
    Egerton, SJ
    Callaghan, VL
    Chernett, P
    [J]. INTELLIGENT AUTONOMOUS VECHICLES 1998 (IAV'98), 1998, : 273 - 277