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Experimental Valida...
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Araujo, JoseKTH,Reglerteknik,ACCESS Linnaeus Centre
(författare)
Experimental Validation of a Localization System Based on a Heterogeneous Sensor Network
- Artikel/kapitelEngelska2009
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NEW YORK :IEEE,2009
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LIBRIS-ID:oai:DiVA.org:kth-26518
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https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-26518URI
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Språk:engelska
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Sammanfattning på:engelska
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Ämneskategori:ref swepub-contenttype
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Ämneskategori:kon swepub-publicationtype
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QC 20110114
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The experimental implementation and validation of a localization system based on a heterogeneous sensor network is described. The sensor network consists of ultrasound ranging sensors and web cameras. They are used to localize a mobile robot under sensor communication constraints. Applying a recently proposed sensor fusion algorithm that explicitly takes communication delay and cost into account, it is shown that one can accurately trade off the estimation performance by using low-quality ultrasound sensors with low processing time and low communication cost versus the use of the high-quality cameras with longer processing time and higher communication cost. It is shown that a periodic schedule of the sensors is suitable in many cases. The experimental setup is discussed in detail and experimental results are presented.
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Sandberg, HenrikKTH,Reglerteknik,ACCESS Linnaeus Centre(Swepub:kth)u1i9irki
(författare)
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Johansson, Karl HenrikKTH,Reglerteknik,ACCESS Linnaeus Centre(Swepub:kth)u1h0d9k2
(författare)
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KTHReglerteknik
(creator_code:org_t)
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Ingår i:ASCCNEW YORK : IEEE, s. 465-4709781424454402
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