On the Recognition of Curved Objects
IEEE Transactions on Pattern Analysis and Machine Intelligence
The Combinatorics of Heuristic Search Termination for Object Recognition in Cluttered Environments
IEEE Transactions on Pattern Analysis and Machine Intelligence
Neural Networks - Special issue: models of neurodynamics and behavior
Mobile Robot Relocation from Echolocation Constraints
IEEE Transactions on Pattern Analysis and Machine Intelligence
Self-Localisation in the ‘Senario’ Autonomous Wheelchair
Journal of Intelligent and Robotic Systems
Localization of an Autonomous Mobile Robot Based on Ultrasonic Sensory Information
Journal of Intelligent and Robotic Systems
Journal of Intelligent and Robotic Systems
A Set Theoretic Approach to Dynamic Robot Localization and Mapping
Autonomous Robots
Interpretation of Ultrasonic Readings for Autonomous Robot Localization
Journal of Intelligent and Robotic Systems
Temporal Range Registration for Unmanned Ground and Aerial Vehicles
Journal of Intelligent and Robotic Systems
Directional Processing of Ultrasonic Arc Maps and its Comparison with Existing Techniques
International Journal of Robotics Research
Mobile robot global localization using just a visual landmark
ISPRA'06 Proceedings of the 5th WSEAS International Conference on Signal Processing, Robotics and Automation
Utility of projective geometry in robot localization
ISPRA'05 Proceedings of the 4th WSEAS International Conference on Signal Processing, Robotics and Automation
A Supervised Learning Approach to Robot Localization Using a Short-Range RFID Sensor
IEICE - Transactions on Information and Systems
ICNC'05 Proceedings of the First international conference on Advances in Natural Computation - Volume Part III
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This correspondence describes a method by which range data from a sonar rangefinder can be used to determine the two-dimensional position and orientation of a mobile robot inside a room. The plan of the room is modeled as a list of segments indicating the positions of walls. The algorithm works by correlating straight segments in the range data against the room model, then eliminating implausible configurations using the sonar barrier test, which exploits physical constraints on sonar data. The approach is extremely tolerant of noise and clutter. Transient objects such as furniture and people need not be included in the room model, and very noisy, low-resolution sensors can be used. The algorithm's performance is demonstrated using a Polaroid Ultrasonic Rangefinder.