Mobile robot self-localisation using occupancy histograms and a mixture of Gaussian location hypotheses.
Tom DuckettUlrich NehmzowPublished in: Robotics Auton. Syst. (2001)
Keyphrases
- mobile robot
- gaussian distribution
- gaussian model
- gaussian mixture
- mixture distribution
- obstacle avoidance
- mixture model
- gaussian densities
- gaussian mixture model
- path planning
- office environment
- mobile robot navigation
- indoor environments
- gaussian density
- mixture of gaussians
- heavy tailed
- maximum likelihood
- dead reckoning
- robot moves
- autonomous navigation
- mobile robotics
- expectation maximization
- mixture distributions
- em algorithm
- dynamic environments
- covariance matrices
- normal distribution
- motion planning
- location based services
- multi robot
- feature extraction
- motion control
- real robot
- autonomous robots
- robotic systems