An Evaluation of 2D Indoor Localization and Mapping Using FastSLAM

被引：0

作者：

Amanda, Mia Puti ^{[1
]}

Jati, Agung Nugroho ^{[1
]}

Sunarya, Unang ^{[2
]}

机构：

[1] Telkom Univ, Sch Elect Engn, Bandung, Indonesia

[2] Telkom Univ, Sch Appl Sci, Bandung, Indonesia

来源：

2016 INTERNATIONAL CONFERENCE ON CONTROL, ELECTRONICS, RENEWABLE ENERGY AND COMMUNICATIONS (ICCEREC) | 2016年

关键词：

Mapping; Localization; RANSAC; FastSLAM;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This research is purposed to evaluate the exploration of an unknown environment using FastSLAM for virtual mobile robot. Mapping and localization can be done simultaneously by FastSLAM algorithm. FastSLAM is an alternative to solve the previous algorithm-SLAM. The result obtained by simulating the virtual robot for mapping and localization using FastSLAM and RANSAC (Random Sampling Consensus) for its feature extraction. In order to describe the performances of FastSLAM and provides insight of weaknesses and strength of this algorithm.

引用

页码：147 / 151

页数：5