DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Seung Mok | ko |
dc.contributor.author | Jung, Jong Dae | ko |
dc.contributor.author | Kim, Shin | ko |
dc.contributor.author | Kim, In-Joo | ko |
dc.contributor.author | Myung, Hyun | ko |
dc.date.accessioned | 2015-06-03T06:25:52Z | - |
dc.date.available | 2015-06-03T06:25:52Z | - |
dc.date.created | 2014-06-24 | - |
dc.date.created | 2014-06-24 | - |
dc.date.created | 2014-06-24 | - |
dc.date.created | 2014-06-24 | - |
dc.date.issued | 2015-02 | - |
dc.identifier.citation | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v.62, no.2, pp.1101 - 1112 | - |
dc.identifier.issn | 0278-0046 | - |
dc.identifier.uri | http://hdl.handle.net/10203/198734 | - |
dc.description.abstract | In this paper, the observability of the conventional vector field simultaneous localization and mapping (SLAM) is examined by using the Fisher information matrix (FIM). If a mobile robot integrates sensor measurements while moving with a fixed heading, the measurements will be ambiguous because its measurement model is based on bilinear interpolation. To resolve the ambiguity, the authors proposed the novel dual-sensor-based vector-field SLAM (DV-SLAM), which is fully observable by using a mobile robot equipped with two sensors in a specific location to measure vector field signals. By examining its FIM, the condition is derived for the proposed DV-SLAM to be fully observable regardless of how the robot moves. The proposed DV-SLAM is implemented based on the Rao-Blackwellized particle filter with Earth's magnetic field sensors. Simulation and experimental results demonstrate that the proposed dual-sensor-based approach greatly improves the performance of the vector-field SLAM compared with the conventional approach. | - |
dc.language | English | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | DV-SLAM (Dual-Sensor-Based Vector-Field SLAM) and Observability Analysis | - |
dc.type | Article | - |
dc.identifier.wosid | 000347799500043 | - |
dc.identifier.scopusid | 2-s2.0-84920997259 | - |
dc.type.rims | ART | - |
dc.citation.volume | 62 | - |
dc.citation.issue | 2 | - |
dc.citation.beginningpage | 1101 | - |
dc.citation.endingpage | 1112 | - |
dc.citation.publicationname | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | - |
dc.identifier.doi | 10.1109/TIE.2014.2341595 | - |
dc.contributor.localauthor | Myung, Hyun | - |
dc.contributor.nonIdAuthor | Kim, Shin | - |
dc.contributor.nonIdAuthor | Kim, In-Joo | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Dual sensor | - |
dc.subject.keywordAuthor | Rao-Blackwellized particle filter (RBPF) | - |
dc.subject.keywordAuthor | simultaneous localization and mapping (SLAM) | - |
dc.subject.keywordAuthor | vector-field SLAM | - |
dc.subject.keywordPlus | INFORMATION MATRIX | - |
dc.subject.keywordPlus | LOCALIZATION | - |
dc.subject.keywordPlus | FASTSLAM | - |
dc.subject.keywordPlus | FILTERS | - |
dc.subject.keywordPlus | FUSION | - |
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