Fusing odometry and sparse UWB radar measurements for indoor slam

Conference contribution


Publication Details

Author(s): Thielecke J, Deißler T
Title edited volumes: 2013 Workshop on Sensor Data Fusion: Trends, Solutions, Applications, SDF 2013
Publisher: IEEE Computer Society
Publication year: 2013
Conference Proceedings Title: 8th Workshop on Sensor Data Fusion: Trends, Solutions, Applications, SDF 2013
Pages range: 1-5
ISBN: 978-1-4799-0777-9


Abstract


For security applications and in situations where optical sensors are not working, ultra-wideband (UWB) radar is an alternative technology for localization, mapping and object recognition. This paper presents an approach for solving the simultaneous localization and mapping (SLAM) problem for an autonomous robot with a small UWB radar array. Feature-based mapping in conjunction with an underlying state space model enables the reconstruction of the room with accuracy up to 10 cm. Two different ways of dealing with the data association problem - the task of sorting the measured time-of-flight values - are presented. Data fusion with odometry information is proposed to reduce the number of measurement steps. Experimental results with an autonomous robot show the feasibility of the concept. © 2013 IEEE.



FAU Authors / FAU Editors

Deißler, Tobias
Lehrstuhl für Informationstechnik mit dem Schwerpunkt Kommunikationselektronik (Stiftungslehrstuhl)
Thielecke, Jörn Prof. Dr.
Professur für Informationstechnik (Schwerpunkt Ortsbestimmung und Navigation)


How to cite

APA:
Thielecke, J., & Deißler, T. (2013). Fusing odometry and sparse UWB radar measurements for indoor slam. In 8th Workshop on Sensor Data Fusion: Trends, Solutions, Applications, SDF 2013 (pp. 1-5). Bonn, Germany, DE: IEEE Computer Society.

MLA:
Thielecke, Jörn, and Tobias Deißler. "Fusing odometry and sparse UWB radar measurements for indoor slam." Proceedings of the 8th Workshop on Sensor Data Fusion: Trends, Solutions, Applications, SDF 2013, Bonn, Germany IEEE Computer Society, 2013. 1-5.

BibTeX: 

Last updated on 2018-19-04 at 02:52