Guanglei Huo

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This paper presents an approach utilizing asynchronous time-of-flight (ATOF) measurements for autonomous mobile robots (AMRs) to be able to localize itself in indoor environments, using a single ultrasonic sensor pair which comprises an ultrasonic transmitter and an ultrasonic receiver. A circular localization scheme will be described. A state estimation(More)
Oriented to meet the needs of environmental modeling of indoor service robots and to facilitate the indoor environmental feature extraction, this paper proposes an indoor feature fusion approach through which the problem of the stability of the environmental feature identification is solved, and the feature map is simplified. In this approach, we first fit(More)
This paper presents a self-localization system for mobile robot in large-scale indoor environments. For a structured corridor environment, the vision information is adopted to track the robot pose with a predefined hybrid metric-topological map. A nonlinear unidirectional camera model is developed to project the probabilistic map elements with uncertainty(More)
Considering stability problems of the current corridor recognition algorithm based on laser scanner, this paper proposes a method for mobile robot fast laser-based corridor recognition. Firstly, Median filter is used to deal with the laser scan to reduce the noise. Then, it employs segmentation method to cluster the data to remove some isolated points.(More)
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