New approach on bearing-only SLAM for indoor environments
Document typeConference lecture
Rights accessRestricted access - publisher's policy
In this paper a novel Simultaneous Localization and Mapping (SLAM) is presented. Using the sound as the input signal, instead of the classical vision or laser systems, leads to a SSLAM (sound SLAM) with a new features, such as the use of a Linear Parameter Varying (LPV) Kalman filter rather than the classical Extended Kalman filter. The other novelty is the modeling of sound reverberation using LPV models. The work is an extension under development from previous research group’s works. The experimental partial results and the theoretical developments encourage authors to follow this unexplored line of SSLAM.
CitationGuerra, E. [et al.]. New approach on bearing-only SLAM for indoor environments. A: IEEE International Conference on Emerging Technologies and Factory Automation. "Emerging Technologies & Factory Automation (ETFA), 2011 IEEE 16th Conference on". Toulouse: 2011, p. 1-4.
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