Localizing a mobile robot with intrinsic noise
Robot localization is a key barrier to providing natural interaction between 3D virtual characters, human users and mobile robots. Knowing where the robot is, relative to a known world-frame, is essential to directed gestures, gazes and expressions between the robot and the other real and virtual pa...
| Main Authors: | , , , , |
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| Other Authors: | |
| Format: | Conference Paper |
| Language: | English |
| Published: |
2013
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| Online Access: | https://hdl.handle.net/10356/97851 http://hdl.handle.net/10220/12217 |
| _version_ | 1826114499715792896 |
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| author | Picon, F. Thalmann, D. Allen, Brian Foster Dalibard, Sebastien Magnenat-Thalmann, Nadia |
| author2 | 3DTV-Conference: The True Vision - Capture, Transmission and Display of 3D Video (2012 : Zurich, Switzerland) |
| author_facet | 3DTV-Conference: The True Vision - Capture, Transmission and Display of 3D Video (2012 : Zurich, Switzerland) Picon, F. Thalmann, D. Allen, Brian Foster Dalibard, Sebastien Magnenat-Thalmann, Nadia |
| author_sort | Picon, F. |
| collection | NTU |
| description | Robot localization is a key barrier to providing natural interaction between 3D virtual characters, human users and mobile robots. Knowing where the robot is, relative to a known world-frame, is essential to directed gestures, gazes and expressions between the robot and the other real and virtual participants in a telepresence system. The intrinsic noise of robots is a flexible and robust, yet under-examined, source for localization information. Sounds that likely localize the robot are identified and separated from background noises using a support vector machine. The resulting sound-bearing data is combined with robot odometry using a particle filter. Experiments conducted in a noisy office environment show substantial improvement over odometry alone. |
| first_indexed | 2024-10-01T03:40:29Z |
| format | Conference Paper |
| id | ntu-10356/97851 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:40:29Z |
| publishDate | 2013 |
| record_format | dspace |
| spelling | ntu-10356/978512020-03-07T12:48:40Z Localizing a mobile robot with intrinsic noise Picon, F. Thalmann, D. Allen, Brian Foster Dalibard, Sebastien Magnenat-Thalmann, Nadia 3DTV-Conference: The True Vision - Capture, Transmission and Display of 3D Video (2012 : Zurich, Switzerland) Robot localization is a key barrier to providing natural interaction between 3D virtual characters, human users and mobile robots. Knowing where the robot is, relative to a known world-frame, is essential to directed gestures, gazes and expressions between the robot and the other real and virtual participants in a telepresence system. The intrinsic noise of robots is a flexible and robust, yet under-examined, source for localization information. Sounds that likely localize the robot are identified and separated from background noises using a support vector machine. The resulting sound-bearing data is combined with robot odometry using a particle filter. Experiments conducted in a noisy office environment show substantial improvement over odometry alone. 2013-07-25T04:50:55Z 2019-12-06T19:47:21Z 2013-07-25T04:50:55Z 2019-12-06T19:47:21Z 2012 2012 Conference Paper Allen, B. F., Picon, F., Dalibard, S., Magnenat-Thalmann, N., & Thalmann, D. (2012). Localizing a mobile robot with intrinsic noise. 2012 3DTV-Conference: The True Vision - Capture, Transmission and Display of 3D Video (3DTV-CON). https://hdl.handle.net/10356/97851 http://hdl.handle.net/10220/12217 10.1109/3DTV.2012.6365480 en © 2012 IEEE. |
| spellingShingle | Picon, F. Thalmann, D. Allen, Brian Foster Dalibard, Sebastien Magnenat-Thalmann, Nadia Localizing a mobile robot with intrinsic noise |
| title | Localizing a mobile robot with intrinsic noise |
| title_full | Localizing a mobile robot with intrinsic noise |
| title_fullStr | Localizing a mobile robot with intrinsic noise |
| title_full_unstemmed | Localizing a mobile robot with intrinsic noise |
| title_short | Localizing a mobile robot with intrinsic noise |
| title_sort | localizing a mobile robot with intrinsic noise |
| url | https://hdl.handle.net/10356/97851 http://hdl.handle.net/10220/12217 |
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