2009
DOI: 10.1007/978-3-642-00196-3_51
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Adaptive Full Scan Model for Range Finders in Dynamic Environments

Abstract: Summary. Sensor models directly influence the efficiency and robustness of the estimation processes used in robot and object localization. Therefore this paper focusses on a probabilistic range finder sensor model for dynamic environments. The dynamic nature results from the presence of unmodeled and possibly moving objects and people.The goal of this paper is twofold. First of al we present experiments to validate the Rigorously Bayesian Beam Model (RBBM), a new model we proposed in a previous paper. Second, … Show more

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