動的平面環境における少数の距離計測を用いた自己位置推定
Localization in Dynamic Planar Environments Using Few Distance Measurements
未知の動的障害物がある既知の2次元環境で、少数の距離計測のみからセンサ位置を推定する手法を提案し、その精度保証とシミュレーション実験での有効性を示した。
著者: Michael M. Bilevich, Shahar Guini, Dan Halperin
分類: cs.RO
原文アブストラクト
We present a method for determining the unknown location of a sensor placed in a known 2D environment in the presence of unknown dynamic obstacles, using only few distance measurements. We present guarantees on the quality of the localization, which are robust under mild assumptions on the density of the unknown/dynamic obstacles in the known environment. We demonstrate the effectiveness of our method in simulated experiments for different environments and varying dynamic-obstacle density. Our open source software is available at https://github.com/TAU-CGL/vb-fdml2-public.
