Marco Polo Localization

dc.contributor.author Dellaert, Frank
dc.contributor.author Martinson, Eric Beowulf
dc.contributor.corporatename Georgia Institute of Technology. College of Computing
dc.date.accessioned 2008-05-01T19:05:51Z
dc.date.available 2008-05-01T19:05:51Z
dc.date.issued 2003
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.uri http://hdl.handle.net/1853/21303
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.subject Bearing en_US
dc.subject Digital signal processing en_US
dc.subject Measurements en_US
dc.subject Odometry en_US
dc.subject Range en_US
dc.subject Sensors en_US
dc.subject Sound en_US
dc.title Marco Polo Localization en_US
dc.type Text
dc.type.genre Paper
dspace.entity.type Publication
local.contributor.author Dellaert, Frank
local.contributor.corporatename College of Computing
local.contributor.corporatename Mobile Robot Laboratory
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
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