Simultaneous Localization and Environmental Mapping with a Sensor Network

摘要：

In this paper, we present an algorithm for simultaneously refining a probability distribution function (PDF) for the pose of a sensor network (i.e. the locations of the sensors), and inferring the spatial variations of measured environmental parameters. Our approach iteratively refines a network pose PDF by assuming that environmental parameters vary smoothly. Both our physical experiments, which sensed wireless signal strength as the environmental variable, and our numerical simulations demonstrate that the approach has promise.

作者: Dimitri Marinakis Neil MacMillan River Allen Sue Whitesides

作者单位: Computer Science Department,University of Victoria,BC,Canada

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 5881-5886

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）