Methods, apparatus, and medium for estimating pose of mobile robot using particle filter
First Claim
1. A method for estimating a pose of a mobile robot using a particle filter, the method comprising:
- sampling current particle on basis of initial position of the mobile robot;
detecting a change in pose of the mobile robot and calculating pose of the current particle by applying the detected change in pose to the previous particle;
predicting the probability of the pose of the current particle and obtaining a weight of the current particle on the basis of range data obtained by a sensor and map information;
resampling the current particle on the basis of the weight; and
adjusting the weight in consideration of an error of the sensor.
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Abstract
Disclosed is a method, apparatus, and medium for estimating a pose of a moving robot using a particle filter. A method for estimating a pose of a moving robot using a particle filter according to an embodiment of the invention includes a detecting a change in pose of the mobile robot and calculating a pose of the current particle by applying the detected change in pose to the previous particle, predicting the probability of the pose of the current particle and obtaining a weight of the current particle on the basis of range data obtained by a sensor and map information, resampling the current particle on the basis of the weight, and adjusting the weight in consideration of an error of the sensor
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Citations
23 Claims
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1. A method for estimating a pose of a mobile robot using a particle filter, the method comprising:
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sampling current particle on basis of initial position of the mobile robot; detecting a change in pose of the mobile robot and calculating pose of the current particle by applying the detected change in pose to the previous particle; predicting the probability of the pose of the current particle and obtaining a weight of the current particle on the basis of range data obtained by a sensor and map information; resampling the current particle on the basis of the weight; and adjusting the weight in consideration of an error of the sensor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 21)
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10. An apparatus for estimating a pose of a mobile robot using a particle filter, the apparatus comprising:
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an odometer to detect a change in pose of the mobile robot; a particle pose calculating unit to calculate pose of the current particle by applying the detected change in pose to the previous particle; a sensor to obtain range data; a particle filter unit to predict the probability of the pose of the current particle and to obtain a weight of the current particle on the basis of the range data and map information; and a weight adjusting unit to adjust the weight in consideration of an error by the sensor. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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22. A method for estimating a pose of a mobile robot using a particle filter, the method comprising:
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detecting a change in pose of the mobile robot and calculating pose of the current particle by applying the detected change in pose to the previous particle; predicting the probability of the pose of the current particle and obtaining a weight of the current particle on the basis of range data obtained by a sensor and map information; and adjusting the weight in consideration of an error of the sensor in order to estimate the pose of the mobile robot. - View Dependent Claims (23)
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Specification