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Bayesian Landmark Learning for Mobile Robot Localization

Author:

Sebastian ThrunAuthors Info & Claims

Machine Learning, Volume 33, Issue 1

Pages 41 - 76

https://doi.org/10.1023/A:1007554531242

Published: 01 October 1998 Publication History

Abstract

To operate successfully in indoor environments, mobile robots must be able to localize themselves. Most current localization algorithms lack flexibility, autonomy, and often optimality, since they rely on a human to determine what aspects of the sensor data to use in localization (e.g., what landmarks to use). This paper describes a learning algorithm, called BaLL, that enables mobile robots to learn what features/landmarks are best suited for localization, and also to train artificial neural networks for extracting them from the sensor data. A rigorous Bayesian analysis of probabilistic localization is presented, which produces a rational argument for evaluating features, for selecting them optimally, and for training the networks that approximate the optimal solution. In a systematic experimental study, BaLL outperforms two other recent approaches to mobile robot localization.

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Cited By

Haris MFranzius MBauer-Wersing U(2022)Learning Visual Landmarks for Localization with Minimal SupervisionImage Analysis and Processing – ICIAP 202210.1007/978-3-031-06427-2_64(773-786)Online publication date: 23-May-2022
https://dl.acm.org/doi/10.1007/978-3-031-06427-2_64
(2015)Feature selection for position estimation using an omnidirectional cameraImage and Vision Computing10.1016/j.imavis.2015.04.00239:C(1-9)Online publication date: 1-Jul-2015
https://dl.acm.org/doi/10.1016/j.imavis.2015.04.002
Syed AHeidemann JYe W(2013)Tones for realACM Transactions on Sensor Networks10.1145/2422966.24229849:2(1-24)Online publication date: 1-Apr-2013
https://dl.acm.org/doi/10.1145/2422966.2422984
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Bayesian Landmark Learning for Mobile Robot Localization

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Information

Published In

cover image Machine Language

Machine Language Volume 33, Issue 1

Oct. 1998

110 pages

ISSN:0885-6125

Editor:
Thomas G. Dietterich
Oregon State Univ., Portland

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Copyright © Copyright © 1998 Kluwer Academic Publishers.

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Kluwer Academic Publishers

United States

Publication History

Published: 01 October 1998

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Cited By

Haris MFranzius MBauer-Wersing U(2022)Learning Visual Landmarks for Localization with Minimal SupervisionImage Analysis and Processing – ICIAP 202210.1007/978-3-031-06427-2_64(773-786)Online publication date: 23-May-2022
https://dl.acm.org/doi/10.1007/978-3-031-06427-2_64
(2015)Feature selection for position estimation using an omnidirectional cameraImage and Vision Computing10.1016/j.imavis.2015.04.00239:C(1-9)Online publication date: 1-Jul-2015
https://dl.acm.org/doi/10.1016/j.imavis.2015.04.002
Syed AHeidemann JYe W(2013)Tones for realACM Transactions on Sensor Networks10.1145/2422966.24229849:2(1-24)Online publication date: 1-Apr-2013
https://dl.acm.org/doi/10.1145/2422966.2422984
Lee SLee SBaek S(2012)Vision-Based Kidnap Recovery with SLAM for Home Cleaning RobotsJournal of Intelligent and Robotic Systems10.1007/s10846-011-9647-467:1(7-24)Online publication date: 1-Jul-2012
https://dl.acm.org/doi/10.1007/s10846-011-9647-4
Qiu QHan JLiu Y(2009)Laser scan matching using multiplex histograms with feature componentsProceedings of the 2009 international conference on Robotics and biomimetics10.5555/1819998.1820056(275-280)Online publication date: 19-Dec-2009
https://dl.acm.org/doi/10.5555/1819998.1820056
Sattar JDudek G(2009)Robust servo-control for underwater robots using banks of visual filtersProceedings of the 2009 IEEE international conference on Robotics and Automation10.5555/1703435.1703457(133-138)Online publication date: 12-May-2009
https://dl.acm.org/doi/10.5555/1703435.1703457
Nelson ABarlow GDoitsidis L(2009)Fitness functions in evolutionary roboticsRobotics and Autonomous Systems10.1016/j.robot.2008.09.00957:4(345-370)Online publication date: 1-Apr-2009
https://dl.acm.org/doi/10.1016/j.robot.2008.09.009
Kollar TRoy N(2008)Trajectory Optimization using Reinforcement Learning for Map ExplorationInternational Journal of Robotics Research10.1177/027836490708742627:2(175-196)Online publication date: 1-Feb-2008
https://dl.acm.org/doi/10.1177/0278364907087426
Zhang PMartonosi M(2008)LOCALEProceedings of the 7th international conference on Information processing in sensor networks10.1109/IPSN.2008.63(195-206)Online publication date: 22-Apr-2008
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Donoso-aguirre FBustos-salas JTorres-torriti MGuesalaga A(2008)Mobile robot localization using the hausdorff distanceRobotica10.1017/S026357470700365726:2(129-141)Online publication date: 1-Mar-2008
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