Bearing-only SLAM in Indoor Environments Using a Modified Particle Filter

摘要

The implementation of a particle filter (PF) for vision-based simultaneous localisation and mapping (SLAtvI) for a mobile robot in an unstructured indoor environment is presented in this paper.Variations to standard PF are proposed to remedy the sample impoverishment problem in bearing-only SLAM.A CCD camera mounted on the robot is used as the measuring device and image quality is incorporated into data association, PF update and map management.A passive path control strategy to maintain the accuracy of the SLAM process is also illustrated.Experimental results from an implementation using real-life data acquired from a Pioneer robot are included to demonstrate the effectiveness of our approach.