The SPmap: A probabilistic framework for simultaneous localization and mapbuilding

Authors
Castellanos, JA Montiel, JMM Neira, J Tardos, JD
Citation
Ja. Castellanos et al., The SPmap: A probabilistic framework for simultaneous localization and mapbuilding, IEEE ROBOT, 15(5), 1999, pp. 948-952
Citations number
15
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
ISSN journal
1042296X → ACNP
Volume
15
Issue
5
Year of publication
1999
Pages
948 - 952
Database
ISI
SICI code
1042-296X(199910)15:5<948:TSAPFF>2.0.ZU;2-U
Abstract
This article describes a rigorous and complete framework for the simultaneo us localization and map building problem for mobile robots: the symmetries and perturbations map (SPmap), which is based on a general probabilistic re presentation of uncertain geometric information. me present a complete expe riment with a LabMate(TM) mobile robot navigating in a human-made indoor en vironment and equipped with a rotating two-dimensional (2-D) laser rangefin der. Experiments validate the appropriateness of our approach and provide a real measurement of the precision of the algorithms.