Chee Wang Lim

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— Two forward kinematic models which are used in the control of an omnidirectional mobile base are evaluated. These two models result in different sensitivities to joint position error. The analysis and experimental results in this paper demonstrate the capabilities of dynamic model in improving the sensitivity of the forward kinematic model, resulting in a(More)
We present an appearance-based localization algorithm for an indoor environment that is inspired by human's localization and navigation capabilities. Our localization approach integrates the Monte-Carlo localization technique with an omnidirectional image matching algorithm. The approach yields robust localization outcome with reasonable accuracy even when(More)
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