Please use this identifier to cite or link to this item: https://doi.org/10.1109/ICCA.2013.6565202
Title: A customized fastslam algorithm using scanning laser range finder in structured indoor environments
Authors: Hon, B.X.
Tian, H.
Wang, F.
Chen, B.M. 
Lee, T.H. 
Issue Date: 2013
Source: Hon, B.X.,Tian, H.,Wang, F.,Chen, B.M.,Lee, T.H. (2013). A customized fastslam algorithm using scanning laser range finder in structured indoor environments. IEEE International Conference on Control and Automation, ICCA : 640-645. ScholarBank@NUS Repository. https://doi.org/10.1109/ICCA.2013.6565202
Abstract: This paper presents a customized FastSLAM algorithm that takes both corners and line segments as map features to perform simultaneous localization and mapping. Unlike the conventional SLAM or FastSLAM algorithms, which only extract corner or point features and have a biased priority given to localization rather than mapping, the line segment features in this new algorithm naturally form a meaningful map of the indoor environment. In addition, using a variety of features is believed to result in a more robust performance. The proposed algorithm is tested based on measurements from a Hokuyo scanning laser range finder mounted on an quadrotor UAV developed by the UAV Research Team from the National University of Singapore. © 2013 IEEE.
Source Title: IEEE International Conference on Control and Automation, ICCA
URI: http://scholarbank.nus.edu.sg/handle/10635/68768
ISBN: 9781467347075
ISSN: 19483449
DOI: 10.1109/ICCA.2013.6565202
Appears in Collections:Staff Publications

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