Kidnapping Detection and Recognition in Previous Unknown Environment
Joint Authors
Source
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-08-22
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
An unaware event referred to as kidnapping makes the estimation result of localization incorrect.
In a previous unknown environment, incorrect localization result causes incorrect mapping result in Simultaneous Localization and Mapping (SLAM) by kidnapping.
In this situation, the explored area and unexplored area are divided to make the kidnapping recovery difficult.
To provide sufficient information on kidnapping, a framework to judge whether kidnapping has occurred and to identify the type of kidnapping with filter-based SLAM is proposed.
The framework is called double kidnapping detection and recognition (DKDR) by performing two checks before and after the “update” process with different metrics in real time.
To explain one of the principles of DKDR, we describe a property of filter-based SLAM that corrects the mapping result of the environment using the current observations after the “update” process.
Two classical filter-based SLAM algorithms, Extend Kalman Filter (EKF) SLAM and Particle Filter (PF) SLAM, are modified to show that DKDR can be simply and widely applied in existing filter-based SLAM algorithms.
Furthermore, a technique to determine the adapted thresholds of metrics in real time without previous data is presented.
Both simulated and experimental results demonstrate the validity and accuracy of the proposed method.
American Psychological Association (APA)
Tian, Yang& Ma, Shugen. 2017. Kidnapping Detection and Recognition in Previous Unknown Environment. Journal of Sensors،Vol. 2017, no. 2017, pp.1-15.
https://search.emarefa.net/detail/BIM-1187195
Modern Language Association (MLA)
Tian, Yang& Ma, Shugen. Kidnapping Detection and Recognition in Previous Unknown Environment. Journal of Sensors No. 2017 (2017), pp.1-15.
https://search.emarefa.net/detail/BIM-1187195
American Medical Association (AMA)
Tian, Yang& Ma, Shugen. Kidnapping Detection and Recognition in Previous Unknown Environment. Journal of Sensors. 2017. Vol. 2017, no. 2017, pp.1-15.
https://search.emarefa.net/detail/BIM-1187195
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1187195