| Presentation | 2006-03-15 Hidden State Estimation Based on Mixture Kalman Filters : Application to Self-Localization of Cyber Rodent Michiyuki MAGONO, Junichiro YOSHIMOTO, Shin ISHII, Kenji DOYA, |
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| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Self-localization is one of the important topics in the field of mobile robotics. Method using probabilistic models such as Kalman filter (KF) and Monte Carlo localization (MCL) are widely-used because they can effectively deal with uncertainty of the environment. In this report, we propose a self-localization method based on mixture Kalman filters, which is a hybrid of KF and MCL to exploit complementary advantages of the two methods. The effectiveness of our method is demonstrated through computer simulations and real experiments with a rat-like mobile robot Cyber Rodent. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Mixture Kalman Filters / Monte Carlo Localization / Kalman Filter / Mobile robot / Bayesian inference |
| Paper # | NC2005-121 |
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| Committee | NC |
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| Conference Date | 2006/3/8(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Neurocomputing (NC) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Hidden State Estimation Based on Mixture Kalman Filters : Application to Self-Localization of Cyber Rodent |
| Sub Title (in English) | |
| Keyword(1) | Mixture Kalman Filters |
| Keyword(2) | Monte Carlo Localization |
| Keyword(3) | Kalman Filter |
| Keyword(4) | Mobile robot |
| Keyword(5) | Bayesian inference |
| 1st Author's Name | Michiyuki MAGONO |
| 1st Author's Affiliation | Nara Institute of Science and Technology:Okinawa Institute of Science and Technology Initial Research Project() |
| 2nd Author's Name | Junichiro YOSHIMOTO |
| 2nd Author's Affiliation | Okinawa Institute of Science and Technology Initial Research Project:Nara Institute of Science and Technology |
| 3rd Author's Name | Shin ISHII |
| 3rd Author's Affiliation | Nara Institute of Science and Technology |
| 4th Author's Name | Kenji DOYA |
| 4th Author's Affiliation | Okinawa Institute of Science and Technology Initial Research Project:Nara Institute of Science and Technology |
| Date | 2006-03-15 |
| Paper # | NC2005-121 |
| Volume (vol) | vol.105 |
| Number (no) | 657 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |