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Title: Localizing a mobile robot with intrinsic noise
Authors: Picon, F.
Thalmann, D.
Allen, Brian Foster
Dalibard, Sebastien
Magnenat-Thalmann, Nadia
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.
DOI: 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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