Rule Set Based Joint State Update
| Autor: | Wolfram Burgard, Michael Fiegert, Thilo Grundmann |
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| Rok vydání: | 2012 |
| Předmět: | |
| Zdroj: | Springer Tracts in Advanced Robotics ISBN: 9783642251153 Towards Service Robots for Everyday Environments |
| Popis: | The accurate localization of the objects in the environment is one of the fundamental preconditions for the reliability of service robots. The majority of algorithms for object localization lacks the ability to integrate physical commonsense knowledge into the recognition process especially, when multiple objects are envolved. Consequently the estimates of such methods often do not comply with basic physical constraints such as that rigid objects should not intersect. In this paper, we present an approach for multi-object localization that is able to consider such physical constraints as statistical dependencies in state estimation processes to increase the localization accuracy. Extensive experiments carried out with a real robot in the context of a service robotics scenario demonstrate the practical usefulness of our approach. |
| Databáze: | OpenAIRE |
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