Scan likelihood evaluation in FastSLAM using binary Bayes filter

Hyukdoo Choi; Euntai Kim; Gwang Woong Yang

doi:10.1109/IVMSPW.2013.6611891

Scan likelihood evaluation in FastSLAM using binary Bayes filter

Hyukdoo Choi, Euntai Kim, Gwang Woong Yang

Department of Electrical and Electronic Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

FastSLAM is a fundamental algorithm for Simultaneous Localization and Mapping (SLAM). FastSLAM based on grid map is a popular method to build a map of both the structured and unstructured environment. The performance of FastSLAM significantly depends on evaluation of measurement likelihood. In this paper, we propose a new method to evaluate laser scan likelihood using the binary Bayes filter. This method supports the right particles but does not suffer from particle depletion problem. We implemented the hardware system based on the Pioneer 2-DX platform equipped with the Hokuyo laser scanner. The experimental result shows that the proposed method builds the map accurately.

Original language	English
Title of host publication	2013 IEEE 11th IVMSP Workshop
Subtitle of host publication	3D Image/Video Technologies and Applications, IVMSP 2013 - Proceedings
DOIs	https://doi.org/10.1109/IVMSPW.2013.6611891
Publication status	Published - 2013 Nov 28
Event	2013 IEEE 11th Workshop on 3D Image/Video Technologies and Applications, IVMSP 2013 - Seoul, Korea, Republic of Duration: 2013 Jun 10 → 2013 Jun 12

Publication series

Name	2013 IEEE 11th IVMSP Workshop: 3D Image/Video Technologies and Applications, IVMSP 2013 - Proceedings

Other

Other	2013 IEEE 11th Workshop on 3D Image/Video Technologies and Applications, IVMSP 2013
Country	Korea, Republic of
City	Seoul
Period	13/6/10 → 13/6/12

All Science Journal Classification (ASJC) codes

Computer Graphics and Computer-Aided Design
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IVMSPW.2013.6611891

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Choi, H., Kim, E., & Yang, G. W. (2013). Scan likelihood evaluation in FastSLAM using binary Bayes filter. In 2013 IEEE 11th IVMSP Workshop: 3D Image/Video Technologies and Applications, IVMSP 2013 - Proceedings [6611891] (2013 IEEE 11th IVMSP Workshop: 3D Image/Video Technologies and Applications, IVMSP 2013 - Proceedings). https://doi.org/10.1109/IVMSPW.2013.6611891

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title = "Scan likelihood evaluation in FastSLAM using binary Bayes filter",

abstract = "FastSLAM is a fundamental algorithm for Simultaneous Localization and Mapping (SLAM). FastSLAM based on grid map is a popular method to build a map of both the structured and unstructured environment. The performance of FastSLAM significantly depends on evaluation of measurement likelihood. In this paper, we propose a new method to evaluate laser scan likelihood using the binary Bayes filter. This method supports the right particles but does not suffer from particle depletion problem. We implemented the hardware system based on the Pioneer 2-DX platform equipped with the Hokuyo laser scanner. The experimental result shows that the proposed method builds the map accurately.",

author = "Hyukdoo Choi and Euntai Kim and Yang, {Gwang Woong}",

year = "2013",

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doi = "10.1109/IVMSPW.2013.6611891",

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series = "2013 IEEE 11th IVMSP Workshop: 3D Image/Video Technologies and Applications, IVMSP 2013 - Proceedings",

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Choi, H, Kim, E & Yang, GW 2013, Scan likelihood evaluation in FastSLAM using binary Bayes filter. in 2013 IEEE 11th IVMSP Workshop: 3D Image/Video Technologies and Applications, IVMSP 2013 - Proceedings., 6611891, 2013 IEEE 11th IVMSP Workshop: 3D Image/Video Technologies and Applications, IVMSP 2013 - Proceedings, 2013 IEEE 11th Workshop on 3D Image/Video Technologies and Applications, IVMSP 2013, Seoul, Korea, Republic of, 13/6/10. https://doi.org/10.1109/IVMSPW.2013.6611891

Scan likelihood evaluation in FastSLAM using binary Bayes filter. / Choi, Hyukdoo; Kim, Euntai; Yang, Gwang Woong.

2013 IEEE 11th IVMSP Workshop: 3D Image/Video Technologies and Applications, IVMSP 2013 - Proceedings. 2013. 6611891 (2013 IEEE 11th IVMSP Workshop: 3D Image/Video Technologies and Applications, IVMSP 2013 - Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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N2 - FastSLAM is a fundamental algorithm for Simultaneous Localization and Mapping (SLAM). FastSLAM based on grid map is a popular method to build a map of both the structured and unstructured environment. The performance of FastSLAM significantly depends on evaluation of measurement likelihood. In this paper, we propose a new method to evaluate laser scan likelihood using the binary Bayes filter. This method supports the right particles but does not suffer from particle depletion problem. We implemented the hardware system based on the Pioneer 2-DX platform equipped with the Hokuyo laser scanner. The experimental result shows that the proposed method builds the map accurately.

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