An Optimal Pose Estimator for Map-based Mobile Robot Dynamic Localization: Experimental Comparison with the EKF.
Geovany de Araújo BorgesMarie-José AldonThierry GilPublished in: ICRA (2001)
Keyphrases
- experimental comparison
- mobile robot
- simultaneous localization and mapping
- map building
- loop closing
- dynamic environments
- loop closure
- robot localization
- maximum a posteriori
- extended kalman filter
- topological map
- path planning
- robot navigation
- dynamic programming
- autonomous navigation
- kalman filter
- least squares
- motion planning
- optimal solution
- pose estimation
- mobile robot localization
- indoor environments
- autonomous robots
- multi robot
- mobile robotics
- kalman filtering
- computer simulation
- maximum likelihood
- conditional expectation
- monte carlo localization
- robot moves
- neural network
- visual odometry
- collision free
- estimation error
- partial occlusion
- markov random field
- feature selection
- computer vision