DC Field | Value | Language |
---|---|---|
dc.contributor.author | Minyoung Choi | - |
dc.contributor.author | Jinwoo Choi | - |
dc.contributor.author | Chung, WK | - |
dc.date.accessioned | 2016-03-31T08:37:27Z | - |
dc.date.available | 2016-03-31T08:37:27Z | - |
dc.date.created | 2013-03-27 | - |
dc.date.issued | 2012-07 | - |
dc.identifier.issn | 0169-1864 | - |
dc.identifier.other | 2012-OAK-0000027265 | - |
dc.identifier.uri | https://oasis.postech.ac.kr/handle/2014.oak/15681 | - |
dc.description.abstract | This paper presents a localization method for a mobile robot equipped with only low-cost ultrasonic sensors. Correlation-based Hough scan matching was used to obtain the robot's pose without any predefined geometric features. A local grid map and a sound pressure model of ultrasonic sensors were used to acquire reliable scan results from uncertain and noisy ultrasonic sensor data. The robot's pose was measured using correlation-based Hough scan matching, and the covariance was calculated. Localization was achieved by fusing the measurements from scan matching with the robot's motion model through the extended Kalman filter. Experimental results verified the performance of the proposed localization method in a real home environment. (c) 2012 Taylor & Francis and The Robotics Society of Japan | - |
dc.description.statementofresponsibility | X | - |
dc.language | English | - |
dc.publisher | Taylor and Francis | - |
dc.relation.isPartOf | Advanced Robotics | - |
dc.subject | mobile robot | - |
dc.subject | localization | - |
dc.subject | scan matching | - |
dc.subject | Hough transform | - |
dc.subject | EKF | - |
dc.subject | UNKNOWN ENVIRONMENTS | - |
dc.subject | SONAR DATA | - |
dc.subject | ROBOTS | - |
dc.title | Correlation-based Scan Matching using Ultrasonic Sensors for EKF Localization | - |
dc.type | Article | - |
dc.contributor.college | 기계공학과 | - |
dc.identifier.doi | 10.1080/01691864.2012.690201 | - |
dc.author.google | Choi, M | - |
dc.author.google | Choi, J | - |
dc.author.google | Chung, WK | - |
dc.relation.volume | 26 | - |
dc.relation.issue | 13 | - |
dc.relation.startpage | 1495 | - |
dc.relation.lastpage | 1519 | - |
dc.contributor.id | 10077435 | - |
dc.relation.journal | Advanced Robotics | - |
dc.relation.index | SCI급, SCOPUS 등재논문 | - |
dc.relation.sci | SCI | - |
dc.collections.name | Journal Papers | - |
dc.type.rims | ART | - |
dc.identifier.bibliographicCitation | Advanced Robotics, v.26, no.13, pp.1495 - 1519 | - |
dc.identifier.wosid | 000307934500004 | - |
dc.date.tcdate | 2019-01-01 | - |
dc.citation.endPage | 1519 | - |
dc.citation.number | 13 | - |
dc.citation.startPage | 1495 | - |
dc.citation.title | Advanced Robotics | - |
dc.citation.volume | 26 | - |
dc.contributor.affiliatedAuthor | Chung, WK | - |
dc.identifier.scopusid | 2-s2.0-84865663660 | - |
dc.description.journalClass | 1 | - |
dc.description.journalClass | 1 | - |
dc.description.wostc | 8 | - |
dc.description.scptc | 9 | * |
dc.date.scptcdate | 2018-05-121 | * |
dc.type.docType | Article | - |
dc.subject.keywordAuthor | mobile robot | - |
dc.subject.keywordAuthor | localization | - |
dc.subject.keywordAuthor | scan matching | - |
dc.subject.keywordAuthor | Hough transform | - |
dc.subject.keywordAuthor | EKF | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Robotics | - |
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