Localizing a mobile robot with intrinsic noise
Robot localization is a key barrier to providing natural interaction between 3D virtual characters, human users and mobile robots. Knowing where the robot is, relative to a known world-frame, is essential to directed gestures, gazes and expressions between the robot and the other real and virtual pa...
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| Main Authors: | , , , , |
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| Other Authors: | |
| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2013
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| Online Access: | https://hdl.handle.net/10356/97851 http://hdl.handle.net/10220/12217 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | Robot localization is a key barrier to providing natural interaction between 3D virtual characters, human users and mobile robots. Knowing where the robot is, relative to a known world-frame, is essential to directed gestures, gazes and expressions between the robot and the other real and virtual participants in a telepresence system. The intrinsic noise of robots is a flexible and robust, yet under-examined, source for localization information. Sounds that likely localize the robot are identified and separated from background noises using a support vector machine. The resulting sound-bearing data is combined with robot odometry using a particle filter. Experiments conducted in a noisy office environment show substantial improvement over odometry alone. |
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