2A2-T04 A Method of Localization and Multi-Layered 2D Mapping using Selective Update for Particle Filter(Localization and Mapping)

Abstract

Recently robotic localization and mapping have been a field of study. They are the basic function of a mobile robot. However such methods are not enough in the dynamic environment including human and moving objects. In such field, there are serious problems such as occlusion and fewer landmarks, that make localization error. This paper describes a nobel method of localization and multi-layered 2D mapping in the dynamic environment using selective update for particle filter. It is possible to localize precisely, in spite of negative factor in the dynamic environment. Also we can exactly make multi-layered 2D maps.