Experimental results in range-only localization with radio
- 8 July 2004
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1, 974-979
- https://doi.org/10.1109/iros.2003.1250754
Abstract
We present an early experimental result toward solving the localization problem with range-only sensors. We perform an experiment in which a mobile robot localizes using dead reckoning and range measurements to stationary radio-frequency beacons in its environment, incorporating the range measurements into the position estimate using a Kalman filter. This data set involves over 20,000 range readings to surveyed beacons while a robot moved continuously over a path for nearly 1 hour. Careful groundtruth accurate to a few centimeters was recorded during this motion. We show the improvement of the robot's position estimate over dead reckoning even when the range readings are very noisy. We extend this approach to the problem of simultaneous localization and mapping (SLAM), localizing both the robot and tag positions from noisy initial estimates.Keywords
This publication has 9 references indexed in Scilit:
- Maximally informative statistics for localization and mappingPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Preliminary results in range-only localization and mappingPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- RADAR: an in-building RF-based user location and tracking systemPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Estimation with Applications to Tracking and NavigationPublished by Wiley ,2002
- Robotics-based location sensing using wireless ethernetPublished by Association for Computing Machinery (ACM) ,2002
- The Cricket location-support systemPublished by Association for Computing Machinery (ACM) ,2000
- Designing a positioning system for finding things and people indoorsIEEE Spectrum, 1998
- Mobile robot localization by tracking geometric beaconsIEEE Transactions on Robotics and Automation, 1991
- A New Approach to Linear Filtering and Prediction ProblemsJournal of Basic Engineering, 1960