ICRA 2011 Paper Abstract


Paper ThP203.1

Marinakis, Dimitri (University of Victoria), MacMillan, Neil (University of Victoria), Allen, River (University of Victoria), Whitesides, Sue (University of Victoria)

Simultaneous Localization and Environmental Mapping with a Sensor Network

Scheduled for presentation during the Regular Sessions "Sensor Networks" (ThP203), Thursday, May 12, 2011, 15:25−15:40, Room 3D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 19, 2019

Keywords Sensor Networks, Localization, Mapping


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.



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