クロダ　ヨウジ   Kuroda Yoji   黒田　洋司    所属   明治大学  理工学部    職種   専任教授
言語種別	英語
発行・発表の年月	2010/12
形態種別	国際会議議事録
査読	査読あり
標題	Discriminative Parameter Determination of Divided Difference Filter for Mobile Robot Localization
執筆形態	共著(筆頭者以外)
掲載誌名	Proc. of the 2010 IEEE Int'l Conf. on Robotics and Biomimetics (ROBIO2010)
掲載区分	国外
出版社・発行元	IEEE
巻・号・頁	pp.967-972
著者・共著者	Yuto Fujii, Atsushi Sakai and Yoji Kuroda
概要	In this paper, we propose a learning method to solve the parameter determination problem of divided difference filter (DDF) for accurate localization. DDF can achieve comparatively accurate localization than other Kalman filter algorithms in poor GPS area. However, parameter determining process of DDF requires significant time and engineering cost. Furthermore, it is difficult to obtain optimal parameters for accurate localization by hand-tuning. DDF has three parameters which should be determined: covariance matrices of input and measurement noise and a Hyper-parameter. Our technique uses a discriminative learning method to determine these parameters. The proposal method absolves developers from the cumbersome process of parameter setting. This paper describes the efficiency of our technique through simulations and an experiment.
researchmap用URL	http://ieeexplore.ieee.org/document/5723457/