Mobile Robot Localization Using Improved SIR Filters and Parametric Models of the Environment
Paulo R. A. Silva, Marcelo G. S. Bruno · 2006
We introduce in this paper an improved particle filter for mobile robot localization using a parametric model of the environment. The proposed filter combines a clutter suppression routine for feature extraction with an optimized importance function and measurement-driven MCMC move steps. The filter is tested with both real and synthetic data and its performance is compared to competing algorithms found in the literature