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New approach on bearing-only SLAM for indoor environments
dc.contributor.author | Guerra Paradas, Edmundo |
dc.contributor.author | Bolea Monte, Yolanda |
dc.contributor.author | Grau Saldes, Antoni |
dc.contributor.author | Munguía Alcalá, Rodrigo Francisco |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2012-03-07T08:36:08Z |
dc.date.available | 2012-03-07T08:36:08Z |
dc.date.created | 2011 |
dc.date.issued | 2011 |
dc.identifier.citation | Guerra, 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. |
dc.identifier.isbn | 1946-0740 |
dc.identifier.uri | http://hdl.handle.net/2117/15499 |
dc.description.abstract | 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. |
dc.format.extent | 4 p. |
dc.language.iso | eng |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Robots--Control systems |
dc.subject.lcsh | Mobile robots |
dc.title | New approach on bearing-only SLAM for indoor environments |
dc.type | Conference lecture |
dc.subject.lemac | Robots mòbils |
dc.subject.lemac | Robots -- Sistemes de control |
dc.contributor.group | Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents |
dc.relation.publisherversion | http://upcommons.upc.edu/e-prints/urlFiles?idDrac=9644222 |
dc.rights.access | Restricted access - publisher's policy |
local.identifier.drac | 9644222 |
dc.description.version | Postprint (published version) |
local.citation.author | Guerra, E.; Bolea, Y.; Grau, A.; Munguia, R. |
local.citation.contributor | IEEE International Conference on Emerging Technologies and Factory Automation |
local.citation.pubplace | Toulouse |
local.citation.publicationName | Emerging Technologies & Factory Automation (ETFA), 2011 IEEE 16th Conference on |
local.citation.startingPage | 1 |
local.citation.endingPage | 4 |