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dc.contributor.authorDellaert, Frank
dc.contributor.authorMartinson, Eric Beowulf
dc.date.accessioned2008-05-01T19:05:51Z
dc.date.available2008-05-01T19:05:51Z
dc.date.issued2003
dc.identifier.urihttp://hdl.handle.net/1853/21303
dc.description.abstractWe introduce the Marco Polo Localization approach, where we apply sound as a tool for gathering range measurements between robots, and use those to solve a range-only Simultaneous Localization and Mapping problem. Range is calculated by correlating two recordings of the same sound, recorded on a pair of robots, after which the resulting time delay estimate is converted to a range measurement. The algorithmic approach we use is a straightforward application of the Bayesian estimation framework. We also present two complementary views on the associated optimization problem that provide insight into the problem and allows one to devise initialization strategies, indispensable in a range-only scenario. We illustrate the approach with both simulated and experimental results.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectBearingen_US
dc.subjectDigital signal processingen_US
dc.subjectMeasurementsen_US
dc.subjectOdometryen_US
dc.subjectRangeen_US
dc.subjectSensorsen_US
dc.subjectSounden_US
dc.titleMarco Polo Localizationen_US
dc.typePaperen_US
dc.contributor.corporatenameGeorgia Institute of Technology. College of Computing


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  • Mobile Robot Laboratory [187]
    Papers, pre/post-prints, and presentations by faculty and students in the Georgia Tech Mobile Robot Laboratory.
  • Mobile Robot Laboratory Publications [187]
    Papers, pre/post-prints, and presentations by faculty and students in the Georgia Tech Mobile Robot Laboratory.

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