학술논문
New approach on bearing-only SLAM for indoor environments
Document Type
Conference
Author
Source
ETFA2011 Emerging Technologies & Factory Automation (ETFA), 2011 IEEE 16th Conference on. :1-4 Sep, 2011
Subject
Language
ISSN
1946-0740
1946-0759
1946-0759
Abstract
In this paper a novel Simultaneous Localization and Mapping (SLAM) is presented. Using the sound as the input signal, instead of the classical vision or laser systems, leads to a SSLAM (sound SLAM) with a new features, such as the use of a Linear Parameter Varying (LPV) Kalman filter rather than the classical Extended Kalman filter. The other novelty is the modeling of sound reverberation using LPV models. The work is an extension under development from previous research group's works. The experimental partial results and the theoretical developments encourage authors to follow this unexplored line of SSLAM.