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Robust Monte Carlo localization for mobile robots

By Sebastian Thrun, Dieter Fox, Wolfram Burgard and Frank Dellaert

Abstract

Mobile robot localization is the problem of determining a robot’s pose from sensor data. This article presents a family of probabilistic localization algorithms known as Monte Carlo Localization (MCL). MCL algorithms represent a robot’s belief by a set of weighted hypotheses (samples), which approximate the posterior under a common Bayesian formulation of the localization problem. Building on the basic MCL algorithm, this article develops a more robust algorithm called Mixture-MCL, which integrates two complimentary ways of generating samples in the estimation. To apply this algorithm to mobile robots equipped with range finders, a kernel density tree is learned that permits fast sampling. Systematic empirical results illustrate the robustness and computational efficiency of the approach

Topics: Mobile robots, Localization, Position estimation, Particle filters, Kernel density trees
Year: 2001
OAI identifier: oai:CiteSeerX.psu:10.1.1.316.1499
Provided by: CiteSeerX
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