Experimental Characterization of a Bearing-only Sensor for Use With the PHD Filter

TL;DR

This paper presents an experimental characterization of a bearing-only sensor tailored for the PHD filter, including detection, measurement, and clutter models, validated through hardware and simulation in a robot search task.

Contribution

It introduces specific sensor models for the PHD filter and demonstrates their effectiveness in autonomous robot object search in an office setting.

Findings

Sensor models accurately represent detection and clutter.

Hardware and simulation results validate the models.

Robots successfully locate objects using the characterized sensor.

Abstract

This report outlines the procedure and results of an experiment to characterize a bearing-only sensor for use with PHD filter. The resulting detection, measurement, and clutter models are used for hardware and simulated experiments with a team of mobile robots autonomously seeking an unknown number of objects of interest in an office environment.