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Methods, apparatus, and medium for estimating pose of mobile robot using particle filter
Methods, apparatus, and medium for estimating pose of mobile robot using particle filter
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机译:使用粒子滤波器估计移动机器人姿态的方法,装置和介质
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摘要
Disclosed is a method, apparatus, and medium for estimating a pose of a moving robot using a particle filter. A method for estimating a pose of a moving robot using a particle filter according to an embodiment of the invention includes a detecting a change in pose of the mobile robot and calculating a pose of the current particle by applying the detected change in pose to the previous particle, predicting the probability of the pose of the current particle and obtaining a weight of the current particle on the basis of range data obtained by a sensor and map information, resampling the current particle on the basis of the weight, and adjusting the weight in consideration of an error of the sensor
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