Method, medium, and system estimating pose of mobile robots
First Claim
1. A movement system, the system comprising:
- a particle filter unit to determine poses and weights of current particles by applying a detected pose variation to previously identified particles, with the detected pose variation being detected by a sensor to detect a pose variation in a pose of a mobile element; and
an evolution unit to update the determined poses and weights of the current particles by applying an evolution algorithm to the determined poses and weights of the current particles to estimate a current pose of the mobile element.
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Abstract
A method, medium, and system reducing the computational complexity of a Simultaneous Localization And Mapping (SLAM) algorithm that can be applied to mobile robots. A system estimating the pose of a mobile robot with the aid of a particle filter using a plurality of particles includes a sensor which detects a variation in the pose of a mobile robot, a particle filter unit which determines the poses and weights of current particles by applying the detected pose variation to previous particles, and an evolution unit which updates the poses and weights of the current particles by applying an evolution algorithm to the poses and weights of the current particles.
36 Citations
26 Claims
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1. A movement system, the system comprising:
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a particle filter unit to determine poses and weights of current particles by applying a detected pose variation to previously identified particles, with the detected pose variation being detected by a sensor to detect a pose variation in a pose of a mobile element; and an evolution unit to update the determined poses and weights of the current particles by applying an evolution algorithm to the determined poses and weights of the current particles to estimate a current pose of the mobile element. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A mobile movement controlling method, the method comprising:
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determining poses and weights of current particles by applying a detected pose variation to previously identified particles, with the detected pose variation being a pose variation in a pose of a mobile element; and updating and outputting the determined poses and weights of the current particles by applying an evolution algorithm to the determined poses and weights of the current particles to estimate a current pose of the mobile robot. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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Specification