UWB SLAM with Rao-Blackwellized Monte Carlo Data Association

Beitrag bei einer Tagung


Details zur Publikation

Autorinnen und Autoren: Deißler T, Thielecke J
Titel Sammelwerk: 2010 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2010 - Conference Proceedings
Jahr der Veröffentlichung: 2010
Tagungsband: Proceedings of International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2010
Seitenbereich: 1-5
ISBN: 978-1-4244-5862-2


Abstract


In situations where the environment is filled with dust or smoke, like in many emergency scenarios, it is still possible to sense the surrounding and build maps by using ultra-wideband (UWB) Radar. This can help firemen and other rescue personnel. In this paper, a method to solve the SLAM (simultaneous localization and mapping) problem is presented. Using UWB radar with a bat-type antenna array consisting of two RX antennas and one TX antenna in the middle, features of the surroundings are detected and used as landmarks for navigation. The main challenge of this approach is the problem of data association, i.e. the task of assigning time-of-flight measurements to corresponding landmarks. The solution presented in this article uses a state space model in combination with a Rao-Blackwellized particle filter. © 2010 IEEE.



FAU-Autorinnen und Autoren / FAU-Herausgeberinnen und Herausgeber

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


Zitierweisen

APA:
Deißler, T., & Thielecke, J. (2010). UWB SLAM with Rao-Blackwellized Monte Carlo Data Association. In Proceedings of International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2010 (pp. 1-5). Zürich.

MLA:
Deißler, Tobias, and Jörn Thielecke. "UWB SLAM with Rao-Blackwellized Monte Carlo Data Association." Proceedings of the International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2010, Zürich 2010. 1-5.

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Zuletzt aktualisiert 2018-09-08 um 22:40