Environment representation for mobile robot localisation

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Conference Proceeding
2017 IEEE International Conference on Industrial and Information Systems, ICIIS 2017 - Proceedings, 2018, 2018-January pp. 1 - 6
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© 2017 IEEE. An adequate representation of the environment is an essential component of a mobile robot navigation system. This paper reviews the techniques reported in the literature for capturing the geometry of the space surrounding a mobile robot. In particular, the use of distance functions that combine some of the advantages of feature based and occupancy grid based representations for mobile robot localisation is described in detail. The effectiveness of various distance function based representations is demonstrated using a number of practical examples for localising ground and air vehicles.
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