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First International Conference on Innovative Computing, Information and Control - Volume III (ICICIC'06)
A Simulation System for Simultaneous Localization and Mapping of Mobile Robots
Beijing, China
August 30-September 01
ISBN: 0-7695-2616-0
ASCII Text
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Xuefeng Dai, Dan Lv, Shudong Liu, Yan Shi, "A Simulation System for Simultaneous Localization and Mapping of Mobile Robots," Innovative Computing ,Information and Control, International Conference on, vol. 3, pp. 233-236, First International Conference on Innovative Computing, Information and Control - Volume III (ICICIC'06), 2006.
 
 
BibTex
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@article{ 10.1109/ICICIC.2006.399,
author = {Xuefeng Dai and Dan Lv and Shudong Liu and Yan Shi},
title = {A Simulation System for Simultaneous Localization and Mapping of Mobile Robots},
journal ={Innovative Computing ,Information and Control, International Conference on},
volume = {3},
year = {2006},
isbn = {0-7695-2616-0},
pages = {233-236},
doi = {http://doi.ieeecomputersociety.org/10.1109/ICICIC.2006.399},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
x 
 
TY - CONF
JO - Innovative Computing ,Information and Control, International Conference on
TI - A Simulation System for Simultaneous Localization and Mapping of Mobile Robots
SN - 0-7695-2616-0
SP233
EP236
A1 - Xuefeng Dai,
A1 - Dan Lv,
A1 - Shudong Liu,
A1 - Yan Shi,
PY - 2006
KW - SLAM; feature extraction; extended Kalman filter; data association; object-oriented
VL - 3
JA - Innovative Computing ,Information and Control, International Conference on
ER -
 
Xuefeng Dai, Qiqihar University, China
Dan Lv, Qiqihar University, China
Shudong Liu, Qiqihar University, China
Yan Shi, Kyushu Tokai University, Japan
In this paper, an effective simulation system is proposed for wheeled mobile robots to verify simultaneous localization and mapping algorithms. Its components and function are described in detail. In map building, a line-based representation of the environment is adopted. Line parameters are extracted from range scans, and the corresponding covariance matrices are computed from the statistical characteristics of the raw data. The simulation system makes the design of algorithms less depend on each others and be easily used to test new algorithms. The proposed scheme is validated through numerical simulations.
Index Terms:
SLAM; feature extraction; extended Kalman filter; data association; object-oriented
Citation:
Xuefeng Dai, Dan Lv, Shudong Liu, Yan Shi, "A Simulation System for Simultaneous Localization and Mapping of Mobile Robots," icicic, vol. 3, pp.233-236, First International Conference on Innovative Computing, Information and Control - Volume III (ICICIC'06), 2006
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