Title:
Marco Polo Localization
Marco Polo Localization
| dc.contributor.author | Martinson, Eric Beowulf | |
| dc.contributor.author | Dellaert, Frank | |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | |
| dc.contributor.corporatename | Georgia Institute of Technology. College of Computing | |
| dc.date.accessioned | 2011-04-06T22:16:34Z | |
| dc.date.available | 2011-04-06T22:16:34Z | |
| dc.date.issued | 2003-09 | |
| dc.description | ©2003 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | en_US |
| dc.description | Presented at the 2003 IEEE International Conference on Robotics and Automation (ICRA), 14-19 September 2003, Taipei, Taiwan. | |
| dc.description | DOI: 10.1109/ROBOT.2003.1241881 | |
| dc.description.abstract | We introduce the Marco Polo Localization approach, where we apply sound as a tool for gathering range measurements between robots, and use those to solve a range-only Simultaneous Localization and Mapping problem. Range is calculated by correlating two recordings of the same sound, recorded on a pair of robots, after which the resulting time delay estimate is converted to a range measurement. The algorithmic approach we use is a straightforward application of the Bayesian estimation framework. We also present two complementary views on the associated optimization problem that provide insight into the problem and allows one to devise initialization strategies, indispensable in a range-only scenario. We illustrate the approach with both simulated and experimental results. | en_US |
| dc.identifier.citation | Martinson, E.B., & Dellaert, F. (2003). “Marco Polo Localization". Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2003), 14-19 September 2003, Vol. 2, 1960-1965. | en_US |
| dc.identifier.issn | 1050-4729 | |
| dc.identifier.uri | http://hdl.handle.net/1853/38431 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | |
| dc.subject | Bayesian estimation | en_US |
| dc.subject | Marco Polo Localization | en_US |
| dc.subject | Optimization | en_US |
| dc.subject | Range measurements | en_US |
| dc.subject | Robots | en_US |
| dc.subject | Simultaneous localization and mapping | en_US |
| dc.title | Marco Polo Localization | en_US |
| dc.type | Text | |
| dc.type.genre | Post-print | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.author | Dellaert, Frank | |
| local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
| relation.isAuthorOfPublication | dac80074-d9d8-4358-b6eb-397d95bdc868 | |
| relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf |