Adaptive Observation Covariance for EKF-SLAM in Indoor Environments using Laser Data

Abstract

In this paper we describe an approach to concurrently localize a robot and to build a feature based map using laser sensor. Stochastic simultaneous localization and mapping (SLAM) is performed by storing the robot pose and map landmarks in a single state vector, and estimating this state vector via a recursive process of prediction and updating. In our case… (More)

1 Figure or Table

Topics

  • Presentations referencing similar topics