Intelligent Robotics

Lee, M.H., Intelligent Robotics, 224pp, Chapman and Hall, 1990.

Proceedings of the Eighth Australian and New Zealand Intelligent Information Systems Conference

These are the full proceedings of the conference.

A modified particle filter for simultaneous robot localization and landmark tracking in an indoor environment

This paper presents the implementation of a modified particle filter for vision-based simultaneous localization and mapping of an autonomous robot in a structured indoor environment. Through this method, artificial landmarks such as multi-coloured cylinders can be tracked with a camera mounted on the robot, and the position of the robot can be estimated at the same time. Experimental results in simulation and in real environments show that this approach has advantages over the extended Kalman filter with ambiguous data association and various levels of odometric noise.