Title:
Marco Polo Localization
Marco Polo Localization
Author(s)
Dellaert, Frank
Martinson, Eric Beowulf
Martinson, Eric Beowulf
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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.
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Date Issued
2003
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Paper