Information-Fusion Methods Based Simultaneous Localization and Mapping for Robot Adapting to Search and Rescue Postdisaster Environments

The first application of utilizing unique information-fusion SLAM (IF-SLAM) methods is developed for mobile robots performing simultaneous localization and mapping (SLAM) adapting to search and rescue (SAR) environments in this paper. Several fusion approaches, parallel measurements filtering, exploration trajectories fusing, and combination sensors’ measurements and mobile robots’ trajectories, are proposed. The novel integration particle filter (IPF) and optimal improved EKF (IEKF) algorithms are derived for information-fusion systems to perform SLAM task in SAR scenarios. The information-fusion architecture consists of multirobots and multisensors (MAM); multiple robots mount on-board laser range finder (LRF) sensors, localization sonars, gyro odometry, Kinect-sensor, RGB-D camera, and other proprioceptive sensors. This information-fusion SLAM (IF-SLAM) is compared with conventional methods, which indicates that fusion trajectory is more consistent with estimated trajectories and real observation trajectories. The simulations and experiments of SLAM process are conducted in both cluttered indoor environment and outdoor collapsed unstructured scenario, and experimental results validate the effectiveness of the proposed information-fusion methods in improving SLAM performances adapting to SAR scenarios.

• Publication year

  2018

• Venue

  J. Robotics

• Publication date

  2018-02-01

• Fields of study

  Computer Science, Engineering, Environmental Science

• Identifiers
  DOI 10.1155/2018/4218324
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

• Keyframes Global Map Establishing Method for Robot Localization through Content-Based Image Matching

  2017cited by this paper
• Sensor Fusion for Robotic Workspace State Estimation

  2016cited by this paper
• Mobile Robot Simultaneous Localization and Mapping Based on a Monocular Camera

  2016cited by this paper
• Robust Relative Navigation by Integration of ICP and Adaptive Kalman Filter Using Laser Scanner and IMU

  2016cited by this paper
• Lighting‐invariant Adaptive Route Following Using Iterative Closest Point Matching

  2015cited by this paper
• Occupancy Grid Map Merging for Multiple robot simultaneous Localization and Mapping

  2015cited by this paper
• Real-Time Multisensor Data Retrieval for Cloud Robotic Systems

  2015cited by this paper
• A next generation mobile robot with multi-mode sense of 3D perception

  2015cited by this paper
• Decentralized active information acquisition: Theory and application to multi-robot SLAM

  2015cited by this paper
• Virtual Visual Servoing for Multicamera Pose Estimation

  2015cited by this paper
• Stereo-vision based obstacle mapping for indoor/outdoor SLAM

  2014cited by this paper
• Incremental topological segmentation for semi-structured environments using discretized GVG

  2014cited by this paper
• Cooperative Distributed Source Seeking by Multiple Robots: Algorithms and Experiments

  2014cited by this paper
• Event-Based Localization in Ackermann Steering Limited Resource Mobile Robots

  2014cited by this paper
• Vision-Aided Inertial Navigation Based on Ground Plane Feature Detection

  2014cited by this paper
• Multi-Robot Frontier Based Map Coverage Using the ROS Environment

  2014cited by this paper
• Cooperative multi-robot navigation, exploration, mapping and object detection with ROS

  2013cited by this paper
• High fidelity day/night stereo mapping with vegetation and negative obstacle detection for vision-in-the-loop walking

  2013cited by this paper
• Kalman Filter for Robot Vision: A Survey

  2012cited by this paper
• RGB-D mapping: Using Kinect-style depth cameras for dense 3D modeling of indoor environments

  2012cited by this paper
• Robust multi-sensor, day/night 6-DOF pose estimation for a dynamic legged vehicle in GPS-denied environments

  2012cited by this paper
• Autonomous navigation for BigDog

  2010cited by this paper
• Mobile robots in mine rescue and recovery

  2009cited by this paper
• A Scalable Hybrid Multi-robot SLAM Method for Highly Detailed Maps

  2008cited by this paper
• Multi-robot SLAM with Unknown Initial Correspondence: The Robot Rendezvous Case

  2006cited by this paper
• Simultaneous localization and mapping (SLAM): part II

  2006cited by this paper
• Simultaneous localization and mapping: part I

  2006cited by this paper
• Autonomous exploration and mapping of abandoned mines

  2004cited by this paper
• Feature extraction for topological mine maps

  2004cited by this paper
• A system for volumetric robotic mapping of abandoned mines

  2003cited by this paper

• Rescue Robots for Casualty Extraction: A Comprehensive Review

  2025cites this paper
• Internet of robotic things for mobile robots: Concepts, technologies, challenges, applications, and future directions

  2023cites this paper
• Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception, and Active Vision

  2020cites this paper
• Disaggregated Power System Signal Recognition Using Capsule Network

  2020cites this paper
• Collaborative Multi-Robot Systems for Search and Rescue: Coordination and Perception

  2020cites this paper
• Human inspired fall prediction method for humanoid robots

  2019cites this paper
• Outdoor Localization of Robot with RSSI for Iot Connected Smart Devices

  2019cites this paper