ICP-EKF localization with adaptive covariance for a boiler inspection robot.
Thavida ManeewarnKaned Thung-odPublished in: RAM/CIS (2015)
Keyphrases
- simultaneous localization and mapping
- mobile robot
- robot localization
- extended kalman filter
- covariance matrix
- mobile robot localization
- kalman filter
- human robot interaction
- path planning
- range images
- dead reckoning
- dynamic environments
- mobile robotics
- autonomous robots
- data association
- iterative closest point algorithm
- kalman filtering
- monte carlo localization
- computer simulation
- vision system
- power plant
- robot control
- humanoid robot
- multi robot
- robotic systems
- map building
- point cloud
- control system
- visual landmarks
- neural network