Calculation of likelihood based on quasi-euclidean norm for robust particle-filer-based self-localization
In this paper, we propose to calculate a likelihood based on a quasi-euclidean norm for a fast and robust particle-filter-based self-localization of mobile robots. The quasi-euclidean norm can be calculated faster than the conventional L2 norm. Furthermore, such norm is much robust to noises than th...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | Japanese |
| Published: |
The Japan Society of Mechanical Engineers
2014-08-01
|
| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/80/816/80_2014dr0242/_pdf/-char/en |
| _version_ | 1811225085305946112 |
|---|---|
| author | Takayuki NAKAMURA Yuuichi TASHITA |
| author_facet | Takayuki NAKAMURA Yuuichi TASHITA |
| author_sort | Takayuki NAKAMURA |
| collection | DOAJ |
| description | In this paper, we propose to calculate a likelihood based on a quasi-euclidean norm for a fast and robust particle-filter-based self-localization of mobile robots. The quasi-euclidean norm can be calculated faster than the conventional L2 norm. Furthermore, such norm is much robust to noises than the L1 or L2 norm. In this work, we perform self-localization experiments based on the L1 norm, L2 norm and quasi euclidean norm likelihood to compare the robustness and processing time. Through these experiments, we confirm the effectiveness of our method. |
| first_indexed | 2024-04-12T08:59:38Z |
| format | Article |
| id | doaj.art-a926bbf256d241418f007744bbf91047 |
| institution | Directory Open Access Journal |
| issn | 2187-9761 |
| language | Japanese |
| last_indexed | 2024-04-12T08:59:38Z |
| publishDate | 2014-08-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Nihon Kikai Gakkai ronbunshu |
| spelling | doaj.art-a926bbf256d241418f007744bbf910472022-12-22T03:39:17ZjpnThe Japan Society of Mechanical EngineersNihon Kikai Gakkai ronbunshu2187-97612014-08-0180816DR0242DR024210.1299/transjsme.2014dr0242transjsmeCalculation of likelihood based on quasi-euclidean norm for robust particle-filer-based self-localizationTakayuki NAKAMURA0Yuuichi TASHITA1Faculty of System Engineering, Wakayama UniversityFaculty of System Engineering, Wakayama UniversityIn this paper, we propose to calculate a likelihood based on a quasi-euclidean norm for a fast and robust particle-filter-based self-localization of mobile robots. The quasi-euclidean norm can be calculated faster than the conventional L2 norm. Furthermore, such norm is much robust to noises than the L1 or L2 norm. In this work, we perform self-localization experiments based on the L1 norm, L2 norm and quasi euclidean norm likelihood to compare the robustness and processing time. Through these experiments, we confirm the effectiveness of our method.https://www.jstage.jst.go.jp/article/transjsme/80/816/80_2014dr0242/_pdf/-char/enquasi-euclidean normparticle filterself-localizationmobile robot |
| spellingShingle | Takayuki NAKAMURA Yuuichi TASHITA Calculation of likelihood based on quasi-euclidean norm for robust particle-filer-based self-localization Nihon Kikai Gakkai ronbunshu quasi-euclidean norm particle filter self-localization mobile robot |
| title | Calculation of likelihood based on quasi-euclidean norm for robust particle-filer-based self-localization |
| title_full | Calculation of likelihood based on quasi-euclidean norm for robust particle-filer-based self-localization |
| title_fullStr | Calculation of likelihood based on quasi-euclidean norm for robust particle-filer-based self-localization |
| title_full_unstemmed | Calculation of likelihood based on quasi-euclidean norm for robust particle-filer-based self-localization |
| title_short | Calculation of likelihood based on quasi-euclidean norm for robust particle-filer-based self-localization |
| title_sort | calculation of likelihood based on quasi euclidean norm for robust particle filer based self localization |
| topic | quasi-euclidean norm particle filter self-localization mobile robot |
| url | https://www.jstage.jst.go.jp/article/transjsme/80/816/80_2014dr0242/_pdf/-char/en |
| work_keys_str_mv | AT takayukinakamura calculationoflikelihoodbasedonquasieuclideannormforrobustparticlefilerbasedselflocalization AT yuuichitashita calculationoflikelihoodbasedonquasieuclideannormforrobustparticlefilerbasedselflocalization |