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Map building and object tracking inside Intelligent Spaces using static and mobile sensors (CROSBI ID 534879)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

Brščić, Dražen ; Hashimoto, Hideki Map building and object tracking inside Intelligent Spaces using static and mobile sensors // Proceedings of the 2007 IEEE/RSJ International Conference on Robotic Systems (IROS 2007). San Diego (CA), 2007. str. 3751-3756

Podaci o odgovornosti

Brščić, Dražen ; Hashimoto, Hideki

engleski

Map building and object tracking inside Intelligent Spaces using static and mobile sensors

This paper deals with the problem of object tracking and environment mapping inside a space with distributed sensors – Intelligent Space. In a conventional approach the distributed sensors are used for these tasks, however since the sensors are static this has several disadvantages. In this paper in addition to static sensors we introduce the use of a mobile robot as mobile sensor to gather additional information and improve the estimation performance. We discuss the characteristics of such a tracking system, mainly concentrating on a system that uses laser range finders as both mobile and static sensors. Estimation methods based on Kalman Filter and Covariance Intersection are presented and analyzed. Finally, the presented methods are experimentally tested.

mobile robot; map building; object tracking; intelligent spaces

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Podaci o prilogu

3751-3756.

2007.

objavljeno

Podaci o matičnoj publikaciji

Proceedings of the 2007 IEEE/RSJ International Conference on Robotic Systems (IROS 2007)

San Diego (CA):

1-4244-0912-8

Podaci o skupu

IEEE/RSJ International Conference on Robotic Systems (IROS 2007)

predavanje

29.10.2007-02.11.2007

San Diego (CA), Sjedinjene Američke Države

Povezanost rada

Elektrotehnika, Računarstvo, Temeljne tehničke znanosti