Method and system for signal-based localization

In an embodiment of the present invention, a GraphSLAM-like algorithm for signal strength SLAM is presented. This algorithm as an embodiment of the present invention shares many of the benefits of Gaussian processes yet is viable for a broader range of environments since it makes no signature unique...

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Bibliographic Details
Main Authors THRUN SEBASTIAN, MILLMAN DAVID, STAVENS DAVID, HUANG JOSEPH
Format Patent
LanguageEnglish
Published 01.12.2015
Subjects
ANALOGOUS ARRANGEMENTS USING OTHER WAVES
DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES
ELECTRIC COMMUNICATION TECHNIQUE
ELECTRICITY
LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES
MEASURING
PHYSICS
RADIO DIRECTION-FINDING
RADIO NAVIGATION
TESTING
WIRELESS COMMUNICATIONS NETWORKS
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Summary:In an embodiment of the present invention, a GraphSLAM-like algorithm for signal strength SLAM is presented. This algorithm as an embodiment of the present invention shares many of the benefits of Gaussian processes yet is viable for a broader range of environments since it makes no signature uniqueness assumptions. It is also more tractable to larger map sizes, requiring O(N2) operations per iteration. In the present disclosure, an algorithm according to an embodiment of the present invention is compared to a laser-SLAM ground truth, showing that it produces excellent results in practice.
Bibliography:Application Number: US201213676071