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Topological localization with kidnap recovery using sonar grid map matching in a home environment

Topological localization with kidnap recovery using sonar grid map matching in a home environment
학술지명 Robotics And Computer-Integreated Manufacturing ISSN 0736-5845
SCI 유무 SCI(E) 게재연월 2012-06 Vol. 28 No. 3
표준화된 순위정보영향력지수 77.78 IF 1.173 Citation 1

Topological localization with kidnap recovery using sonar grid map matching in a home environment
저자 JinWoo Choi, MinYong Choi, WanKyun Chung
초록
This paper presents a method of topological localization with kidnap recovery capability in a home environment using only low-cost sonar sensors. The proposed method considers both pose tracking and relocation problems. The pose tracking is achieved by calculating node probability using grid-map matching and relative motion model. The relocation method detects the kidnap automatically and recovers it using multiple hypothesis tracking. After kidnap recovery, it also provides a criterion for selecting a reasonable hypothesis for returning to the pose tracking stage autonomously. Experimental results in a real home environment verify that the proposed localization method provides a reliable and convergent node probability when the robot is kidnapped.

 
keyword Topological localization; Kidnap detection; Kidnap recovery; Sonar sensor; Grid-map matching

Topological localization with kidnap recovery using sonar grid map matching in a home environment
과제명 4D+ 증강현실을 위한 실시간 정합 및 지능형 정보증강 기술 연구
연구기관 한국과학기술원 연구책임자 우운택