IRI - Concurrent map building and localization on indoor dynamic environments

Publication

Concurrent map building and localization on indoor dynamic environments

Journal Article (2002)

Journal

International Journal of Pattern Recognition and Artificial Intelligence

Pages

361-374

Volume

Number

Doc link

http://dx.doi.org/10.1142/S0218001402001745

File

Download the digital copy of the doc pdf document

Authors

Projects associated

ANNA: Supervised learning of industrial scenes by means of an active vision equipped mobile robot.

Abstract

A system that builds and maintains a dynamic map for a mobile robot is presented. A learning rule associated to each observed landmark is used to compute its robustness. The position of the robot during map construction is estimated by combining sensor readings, motion commands, and the current map state by means of an Extended Kalman Filter. The combination of landmark strength validation and Kalman filtering for map updating and robot position estimation allows for robust learning of moderately dynamic indoor environments.

Author keywords

mobile robot map learning, mobile robot navigation, CML, SLAM, extended Kalman filter

Scientific reference

J. Andrade-Cetto and A. Sanfeliu. Concurrent map building and localization on indoor dynamic environments. International Journal of Pattern Recognition and Artificial Intelligence, 16(3): 361-374, 2002.