Publication
Concurrent map building and localization with landmark validation
Conference Article
Conference
International Conference on Pattern Recognition (ICPR)
Edition
16th
Pages
693-696
Doc link
http://dx.doi.org/10.1109/ICPR.2002.1048396
File
Abstract
This communication addresses the issue of concurrent map building and localization (CML) for a mobile robot in an unknown environment. The proposed solution extends over previous contributions in that the environment must not be static, nor the landmarks be uniquely identifiable. To this aim we introduce a map model that includes not only the robot and landmark locations in a reference frame, but also a model for landmark quality assessment. Convergence of the map covariance is preserved in the new map model.
Categories
robots.
Author keywords
map building, mobile robot navigation, CML, SLAM
Scientific reference
J. Andrade-Cetto and A. Sanfeliu. Concurrent map building and localization with landmark validation, 16th International Conference on Pattern Recognition, 2002, Quebec, Canadà, pp. 693-696, 2002, IEEE.
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