Fusing odometry and sparse UWB radar measurements for indoor slam

Beitrag bei einer Tagung


Details zur Publikation

Autor(en): Thielecke J, Deißler T
Titel Sammelwerk: 2013 Workshop on Sensor Data Fusion: Trends, Solutions, Applications, SDF 2013
Verlag: IEEE Computer Society
Jahr der Veröffentlichung: 2013
Tagungsband: 8th Workshop on Sensor Data Fusion: Trends, Solutions, Applications, SDF 2013
Seitenbereich: 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-Autoren / FAU-Herausgeber

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


Zitierweisen

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: 

Zuletzt aktualisiert 2018-09-08 um 23:10