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Am Mittwoch, den 06.01.2010 hält Herr Mohammad Hossein Mirabdollah um 16:30 im Raum P 1.4.17 einen Vortrag mit dem Titel

Particle filters and their application in mobile robots' localization

The position estimation of a mobile robot(localization) is an essential task on which most of imagined missions for the robot depend. The basic method of localization relies on odometery data. However, due to unideal environment conditions and measurement noise, there would be an accumulated errors along time. The main trend to address this shortcoming is using probabilistic approaches to apply to the motion equation of a robot in a state space model and using other types of measurements like laser range or visual data. Then, the problem turns into state estimation of the model, based on the available measurements. However, since the model is nonlinear, using classic approaches are not applicable. Consequently , numeric stochastic methods which can be called particle filters are used.