Exploiting the Unexpected: Negative Evidence Modeling and Proprioceptive Motion Modeling for Improved Markov Localization

Abstract

This paper explores how sensor and motion modeling can be improved to better Markov localization by exploiting deviations from expected sensor readings. Proprioception is achieved by monitoring target and actual motions of robot joints. This provides information about whether or not an action was executed as desired, yielding a quality measure of the… (More)
DOI: 10.1007/11780519_3

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