En Procedimientos

A Comparison of SLAM Algorithms with Range Only Sensors

Herranz, Fernando; Llamazares, Ángel; Molinos, Eduardo; Ocaña, Manuel
Year: 2014
Type of Publication: In Proceedings
Keywords: SLAM; Rango Only sensors
Editor: IEEE
Book title: The 2014 IEEE International Conference on Robotics and Automation (ICRA 2014)
Pages: 4606-4611
Month: 6
ISBN: 978-1-4799-3684-7
Localization and mapping in indoor environments, such as airports and hospitals, are key tasks for almost every robotic platform. Some researchers suggest the use of RO (Range Only) sensors based on WiFi (Wireless Fidelity) technology with SLAM (Simultaneous Localization And Mapping) techniques. The current state of the art in RO SLAM is mainly focused on the filtering approach, while the study of smoothing approach with RO sensors is quite incomplete. This paper presents a comparison between a filtering algorithm, the EKF, and a smoothing algorithm, the SAM (Smoothing And Mapping). Experimental results are obtained, first in an outdoor environment using two types of RO sensors and then in an indoor environment with WiFi sensors. The results demonstrate the feasibility of the smoothing approach with WiFi sensors in indoors.
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