A random finite set approach to occupancy-grid SLAM

Ristic, B, Angley, D, Selvaratnam, D, Moran, W and Palmer, J 2016, 'A random finite set approach to occupancy-grid SLAM', in Proceedings of the19th International Conference on Information Fusion (FUSION 2016), Heidelberg, Germany, 5-8 July 2016, pp. 935-941.


Document type: Conference Paper
Collection: Conference Papers

Title A random finite set approach to occupancy-grid SLAM
Author(s) Ristic, B
Angley, D
Selvaratnam, D
Moran, W
Palmer, J
Year 2016
Conference name FUSION 2016
Conference location Heidelberg, Germany
Conference dates 5-8 July 2016
Proceedings title Proceedings of the19th International Conference on Information Fusion (FUSION 2016)
Publisher IEEE
Place of publication United States
Start page 935
End page 941
Total pages 7
Abstract Low-cost sensors for simultaneous localisation and mapping (SLAM) on robotic platforms (e.g. miniature sonar or radar) are susceptible to false and missed detections. This paper presents an occupancy-grid algorithm for SLAM which deals with this type of imperfect sensor measurements using the random finite set theoretical framework. The solution is formulated as a Rao-Blackwellised particle filter, where the robot pose is estimated using the sequential Monte Carlo method, while the map (occupancy-grid) update is calculated analytically. The particle filter is implemented using an adaptive importance sampling scheme with progressive correction. Results obtained in numerical simulations demonstrate a robust performance in the presence of false detections and low probability of detection.
Subjects Signal Processing
Adaptive Agents and Intelligent Robotics
Keyword(s) Particle filter
random finite sets
SLAM
localisation
mapping
Copyright notice © 2016 IEEE © 2016 ISIF
ISBN 9780996452748
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