A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots

    loading  Checking for direct PDF access through Ovid


This paper addresses the problem of building large-scale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximum-likelihood estimation problem. It then devises a practical algorithm for generating the most likely map from data, along with the most likely path taken by the robot. Experimental results in cyclic environments of size up to 80 by 25 meter illustrate the appropriateness of the approach.

Related Topics

    loading  Loading Related Articles