Method, 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 a 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,wherein the detecting of the change in pose of the mobile robot and the calculating of the pose of the current particle by applying the detected change in pose to the previous particle comprises updating the pose of the current particle in a direction where the position probability increases by using a hill climbing method, andwherein the probability is a variable which is calculated using an error ratio based on accuracy 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
19 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 a 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, wherein the detecting of the change in pose of the mobile robot and the calculating of the pose of the current particle by applying the detected change in pose to the previous particle comprises updating the pose of the current particle in a direction where the position probability increases by using a hill climbing method, and wherein the probability is a variable which is calculated using an error ratio based on accuracy of the sensor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 19)
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9. 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 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 by a sensor and map information; and a weight adjusting unit to adjust the weight in consideration of an error by the sensor, wherein the particle pose calculating unit updates the pose of the current particle in a direction where the position probability increases by using a hill climbing method, and wherein the probability is a variable which is calculated using an error ratio between standard deviation of accuracy of the odometer and the sensor. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18)
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Specification