The DOI matches its Crossref record; 19 of the 19 references it cites were found in a registry or an index.
Improving Grid-based SLAM with Rao-Blackwellized Particle Filters by Adaptive Proposals and Selective Resampling
Abstract
Recently Rao-Blackwellized particle filters have been introduced as effective means to solve the simultaneous localization and mapping (SLAM) problem. This approach uses a particle filter in which each particle carries an individual map of the environment. Accordingly, a key question is how to reduce the number of particles. In this paper we present adaptive techniques to reduce the number of particles in a Rao-Blackwellized particle filter for learning grid maps. We propose an approach to compute an accurate proposal distribution taking into account not only the movement of the robot but also the most recent observation. This drastically decrease the uncertainty about the robot's pose in the prediction step of the filter. Furthermore, we present an approach to selectively carry out re-sampling operations which seriously reduces the problem of particle depletion. Experimental results carried out with mobile robots in large-scale indoor as well as in outdoor environments illustrate the advantages of our methods over previous approaches.
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Citations
Cites
FastSLAM: a factored solution to the simultaneous localization and mapping problem
Montemerlo, M., Thrun, S., Koller, D., & Wegbreit, B. (2002) · doi:10.5555/777092.777184 · Cited by 2,012
Monte Carlo localization for mobile robots
Dellaert, F., Fox, D., Burgard, W., & Thrun, S. (2003) · Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C) · doi:10.1109/robot.1999.772544 · Cited by 1,620
Self-citationvan der Merwe, R., Arnaud Doucet, B., de Freitas, N., & Wan, E. A. (2000) · Cited by 1,396
Sensor Fusion in Certainty Grids for Mobile Robots
Moravec, H. P. (1989) · Sensor Devices and Systems for Robotics · doi:10.1007/978-3-642-74567-6_19 · Cited by 964
Montemerlo, M., Thrun, S., Roller, D., & Wegbreit, B. (2003) · Cited by 863
Hahnel, D., Burgard, W., Fox, D., & Thrun, S. (2004) · Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453) · doi:10.1109/iros.2003.1250629 · Cited by 572
Self-citationIncremental mapping of large cyclic environments
Gutmann, J.-S., & Konolige, K. (2003) · Proceedings 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation. CIRA'99 (Cat. No.99EX375) · doi:10.1109/cira.1999.810068 · Cited by 568
Metropolized independent sampling with comparisons to rejection sampling and importance sampling
Liu, J. S. (1996) · Statistics and Computing · doi:10.1007/bf00162521 · Cited by 507
A Probabilistic On-Line Mapping Algorithm for Teams of Mobile Robots
Thrun, S. (2001) · The International Journal of Robotics Research · doi:10.1177/02783640122067435 · Cited by 489
Simultaneous localization and mapping with unknown data association using FastSLAM
Montemerlo, M., & Thrun, S. (2004) · 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) · doi:10.1109/robot.2003.1241885 · Cited by 462
Cited by
Simultaneous localization and mapping (SLAM): part II
Bailey, T., & Durrant-Whyte, H. (2006) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2006.1678144 · Cited by 2,554
Perception, Planning, Control, and Coordination for Autonomous Vehicles
Pendleton, S., Andersen, H., Du, X., Shen, X., Meghjani, M., Eng, Y., Rus, D., & Ang, M. (2017) · Machines · doi:10.3390/machines5010006 · Cited by 657
Information Gain-based Exploration Using Rao-Blackwellized Particle Filters
Stachniss, C., Grisetti, G., & Burgard, W. (2005) · Robotics: Science and Systems I · doi:10.15607/rss.2005.i.009 · Cited by 542
Self-citationInference on networks of mixtures for robust robot mapping
Olson, E., & Agarwal, P. (2013) · The International Journal of Robotics Research · doi:10.1177/0278364913479413 · Cited by 252
Efficient frontier detection for robot exploration
Keidar, M., & Kaminka, G. A. (2014) · The International Journal of Robotics Research · doi:10.1177/0278364913494911 · Cited by 151
Metadata
- Authors
- Grisetti, G., Stachniss, C., & Burgard, W.
- Venue
- Proceedings of the 2005 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE
- Published
- 2005
- Pages
- 2432-2437
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2125420246
- Cited by
- 734
- References
- 19
- FWCI
- 69.21
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Grisetti, G., Stachniss, C., & Burgard, W. (2005). Improving Grid-based SLAM with Rao-Blackwellized Particle Filters by Adaptive Proposals and Selective Resampling. Proceedings of the 2005 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/robot.2005.1570477
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