Title :
The SPmap: a probabilistic framework for simultaneous localization and map building
Author :
Castellanos, Jose A. ; Montiel, J.M.M. ; Neira, J. ; Tardós, J.D.
Author_Institution :
Dept. de Inf. e Ingenieria de Sistemas, Zaragoza Univ., Spain
fDate :
10/1/1999 12:00:00 AM
Abstract :
This article describes a rigorous and complete framework for the simultaneous localization and map building problem for mobile robots: the symmetries and perturbation map (SPmap), which is based on a general probabilistic representation of uncertain geometric information. We present a complete experiment with a LabMateTM mobile robot navigating in a human-made indoor environment and equipped with a rotating 2D laser rangefinder. Experiments validate the appropriateness of our approach and provide a real measurement of the precision of the algorithms
Keywords :
correlation methods; laser ranging; mobile robots; navigation; path planning; position control; probability; 2D laser rangefinder; SPmap; correlations; indoor environment; localization; map building; mobile robots; navigation; perturbation map; probabilistic model; symmetries; Buildings; Indoor environments; Laser modes; Mobile robots; Navigation; Path planning; Robotics and automation; Solid modeling; Two dimensional displays; Uncertainty;
Journal_Title :
Robotics and Automation, IEEE Transactions on
