The DOI matches its Crossref record; 8 of the 8 references it cites were found in a registry or an index.
World modeling and position estimation for a mobile robot using ultrasonic ranging
Abstract
The author describes a system for dynamically maintaining a description of the limits to free space for a mobile robot using a belt of ultrasonic range sensors. A model is presented for the uncertainty inherent in such sensors, and the projection of range measurements into external Cartesian coordinates is described. Line segments are then expressed by a set of parameters represented by an estimate and a precision. A process is presented for extracting line segments from adjacent collinear range measurements, and a fast algorithm is presented for matching these line segments to a model of the limits to free space of the robot. A side effect of matching observations to a local model is a correction to the estimated position of the robot at the time that the observation was made. A Kalman filter update equation is developed to permit the correspondence of a line segment to the model to be applied as a correction to estimated position. Examples of segment extraction, position correction and modeling are presented using real ultrasonic data.>
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Cites
On the Representation and Estimation of Spatial Uncertainty
Smith, R. C., & Cheeseman, P. (1986) · The International Journal of Robotics Research · doi:10.1177/027836498600500404 · Cited by 1,579
Sonar-based real-world mapping and navigation
Elfes, A. (1987) · IEEE Journal on Robotics and Automation · doi:10.1109/jra.1987.1087096 · Cited by 1,397
Position referencing and consistent world modeling for mobile robots
Chatila, R., & Laumond, J. (2005) · Proceedings. 1985 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.1985.1087373 · Cited by 567
Error modeling in stereo navigation
Matthies, L., & Shafer, S. (1987) · IEEE Journal on Robotics and Automation · doi:10.1109/jra.1987.1087097 · Cited by 509
Building visual maps by combining noisy stereo measurements
Faugeras, O. D., Ayache, N., & Faverjon, B. (1986) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1986.1087419 · Cited by 129
Consistent Integration and Propagation of Disparate Sensor Observations
Durrant-Whyte, H. F. (1987) · The International Journal of Robotics Research · doi:10.1177/027836498700600301 · Cited by 127
Coordinaton of Action and Perception in a Surveillance Robot
Crowley, J. L. (1987) · IEEE Expert · doi:10.1109/mex.1987.5006532 · Cited by 73
Self-citationRepresentation and maintenance of a composite surface model
Crowley, J. L. (1986) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1986.1087487 · Cited by 25
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Cited by
Simultaneous localization and mapping: part I
Durrant-Whyte, H., & Bailey, T. (2006) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2006.1638022 · Cited by 4,199
Globally Consistent Range Scan Alignment for Environment Mapping
Lu, F., & Milios, E. (1997) · Autonomous Robots · doi:10.1023/a:1008854305733 · Cited by 1,304
Mobile robot localization by tracking geometric beacons
Leonard, J. J., & Durrant-Whyte, H. F. (1991) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.88147 · Cited by 1,245
Dynamic Map Building for an Autonomous Mobile Robot
Leonard, J. J., Durrant-Whyte, H. F., & Cox, I. J. (1992) · The International Journal of Robotics Research · doi:10.1177/027836499201100402 · Cited by 414
Metadata
- Authors
- Crowley, J. L.
- Venue
- Proceedings, 1989 International Conference on Robotics and Automation
- Publisher
- IEEE Comput. Soc. Press
- Published
- 2003-01-07
- Pages
- 674-680
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2113786136
- Cited by
- 466
- References
- 8
- FWCI
- 57.75
- Type
- conference paper
- Language
- en
- Open access
- closed
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