Maximum likelihood SLAM in dynamic environments

Mitsou, N; Tzafestas, C

dc.contributor.author	Mitsou, N	en
dc.contributor.author	Tzafestas, C	en
dc.date.accessioned	2014-03-01T02:44:49Z
dc.date.available	2014-03-01T02:44:49Z
dc.date.issued	2007	en
dc.identifier.issn	10823409	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31958
dc.subject	Dynamic Environment	en
dc.subject	Maximum Likelihood	en
dc.subject.other	Artificial intelligence	en
dc.subject.other	Automation	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Cybernetics	en
dc.subject.other	Robotics	en
dc.subject.other	Dynamic environments	en
dc.subject.other	Dynamic natures	en
dc.subject.other	Exploration phase	en
dc.subject.other	International conferences	en
dc.subject.other	Maximum-likelihood	en
dc.subject.other	Robot exploration	en
dc.subject.other	Simulated robots	en
dc.subject.other	Simultaneous localization and Mapping	en
dc.subject.other	Robots	en
dc.title	Maximum likelihood SLAM in dynamic environments	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ICTAI.2007.168	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ICTAI.2007.168	en
heal.identifier.secondary	4410277	en
heal.publicationDate	2007	en
heal.abstract	Simultaneous Localization and Mapping in dynamic environments is an open issue in the field of robotics. Traditionally, the related approaches assume that the environment remains static during the robot's exploration phase. In this work, we overcome this assumption and propose an algorithm that exploits the dynamic nature of the environment during robot exploration so as to improve the localization process. We use a Histogram Grid to store all the past occupancy values of every cell and thus to select the most probable pose of the robot based on the occupancy evolution. Experiments on a simulated robot indicate the effectiveness of the proposed approach. © 2007 IEEE.	en
heal.journalName	Proceedings - International Conference on Tools with Artificial Intelligence, ICTAI	en
dc.identifier.doi	10.1109/ICTAI.2007.168	en
dc.identifier.volume	1	en
dc.identifier.spage	152	en
dc.identifier.epage	156	en