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dc.contributor.authorWu, Li-Weien_US
dc.contributor.authorCheng, Chieh- Chengen_US
dc.contributor.authorLiu, Wei-Hanen_US
dc.contributor.authorHu, Jwu-Shengen_US
dc.date.accessioned2014-12-08T15:25:36Z-
dc.date.available2014-12-08T15:25:36Z-
dc.date.issued2005en_US
dc.identifier.isbn0-7803-9044-Xen_US
dc.identifier.urihttp://hdl.handle.net/11536/18007-
dc.description.abstractThis investigation proposes a robust robot localization system. The system contains a novel Gaussian Mixture-Sound Field Landmark Model (GM-SFLM) and can localize the robot accurately in noisy environments. Moreover, the proposed method depends nothing on the geometry relation between source locations and two microphones; it is able to cover both near-field and far-field problems. With this proposed GM-SFLM, we can localize robot in 2-dimentional indoor environments. Furthermore, we realize the GM-SFLM into a quadruped robot system composed of an eRobot and a robot agent by using embedded Ethernet technology. The experiment demonstrates that when the robot is completely non-line-of-sight, this system still provides high detection accuracy. Additionally, the proposed method has advantages of high accuracy, low-cost, easy to implement and environmental adaptation.en_US
dc.language.isoen_USen_US
dc.subjectGMMen_US
dc.subjectroboten_US
dc.subjectlocalizationen_US
dc.subjectsound fielden_US
dc.titleGaussian mixture-sound field landmark model for robot localizationen_US
dc.typeProceedings Paperen_US
dc.identifier.journal2005 IEEE International Conference on Mechatronics and Automations, Vols 1-4, Conference Proceedingsen_US
dc.citation.spage438en_US
dc.citation.epage443en_US
dc.contributor.department電控工程研究所zh_TW
dc.contributor.departmentInstitute of Electrical and Control Engineeringen_US
dc.identifier.wosnumberWOS:000238860800075-
Appears in Collections:Conferences Paper