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Localization in ambiguous environments using multiple weak cues

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Abstract

This paper presents a probabilistic approach for sensor-based localization with weak sensor data. Wireless received signal strength measurements are used to disambiguate sonar measurements in symmetric environments. Particle filters are used to model the multi-hypothesis estimation problem. Experiments indicate that multiple weak cues can provide robust position estimates and that multiple sensors also aid in solving the kidnapped robot problem.

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Authors and Affiliations

  1. Department of Information Technology, Lappeenranta University of Technology, P.O. Box 20, 53851, Lappeenranta, Finland

    Janne Laaksonen & Ville Kyrki

Authors
  1. Janne Laaksonen
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  2. Ville Kyrki
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Correspondence to Janne Laaksonen.

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Laaksonen, J., Kyrki, V. Localization in ambiguous environments using multiple weak cues. Intel Serv Robotics 1, 281–288 (2008). https://doi.org/10.1007/s11370-008-0023-6

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  • DOI: https://doi.org/10.1007/s11370-008-0023-6

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