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|Title:||Localizing a mobile robot with intrinsic noise||Authors:||Picon, F.
Allen, Brian Foster
|Issue Date:||2012||Source:||Allen, B. F., Picon, F., Dalibard, S., Magnenat-Thalmann, N., & Thalmann, D. (2012). Localizing a mobile robot with intrinsic noise. 2012 3DTV-Conference: The True Vision - Capture, Transmission and Display of 3D Video (3DTV-CON).||Abstract:||Robot localization is a key barrier to providing natural interaction between 3D virtual characters, human users and mobile robots. Knowing where the robot is, relative to a known world-frame, is essential to directed gestures, gazes and expressions between the robot and the other real and virtual participants in a telepresence system. The intrinsic noise of robots is a flexible and robust, yet under-examined, source for localization information. Sounds that likely localize the robot are identified and separated from background noises using a support vector machine. The resulting sound-bearing data is combined with robot odometry using a particle filter. Experiments conducted in a noisy office environment show substantial improvement over odometry alone.||URI:||https://hdl.handle.net/10356/97851
|DOI:||http://dx.doi.org/10.1109/3DTV.2012.6365480||Rights:||© 2012 IEEE.||Fulltext Permission:||none||Fulltext Availability:||No Fulltext|
|Appears in Collections:||IMI Conference Papers|
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