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Improving Localisat...
Improving Localisation Accuracy using Submaps in warehouses
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- Adolfsson, Daniel, 1992- (author)
- Örebro universitet,Institutionen för naturvetenskap och teknik
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- Lowry, Stephanie, 1979- (author)
- Örebro universitet,Institutionen för naturvetenskap och teknik
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- Andreasson, Henrik, 1977- (author)
- Örebro universitet,Institutionen för naturvetenskap och teknik
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(creator_code:org_t)
- 2018
- 2018
- English.
- Related links:
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https://oru.diva-por... (primary) (Raw object)
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https://urn.kb.se/re...
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Abstract
Subject headings
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- This paper presents a method for localisation in hybrid metric-topological maps built using only local information that is, only measurements that were captured by the robot when it was in a nearby location. The motivation is that observations are typically range and viewpoint dependent and that a map a discrete map representation might not be able to explain the full structure within a voxel. The localisation system uses a method to select submap based on how frequently and where from each submap was updated. This allow the system to select the most descriptive submap, thereby improving the localisation and increasing performance by up to 40%.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
Keyword
- Computer Science
- Datavetenskap
Publication and Content Type
- vet (subject category)
- kon (subject category)
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