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

Download the digital copy of the doc pdf document

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.