DocumentCode :
2371483
Title :
Map building with mobile robots in populated environments
Author :
Hähnel, Dirk ; Schulz, Dirk ; Burgard, Wolfram
Author_Institution :
Dept. of Comput. Sci., Freiburg Univ., Germany
Volume :
1
fYear :
2002
fDate :
2002
Firstpage :
496
Abstract :
The problem of generating maps with mobile robots has received considerable attention over the past years. However, most of the approaches assume that the environment is static during the data-acquisition phase. In this paper we consider the problem of creating maps with mobile robots in populated environments. Our approach uses a probabilistic method to track multiple people and to incorporate the results of the tracking technique into the mapping process. The resulting maps are more accurate since corrupted readings are treated accordingly during the matching phase and since the number of spurious objects in the resulting maps is reduced. Our approach has been implemented and tested on real robot systems in indoor and outdoor scenarios. We present several experiments illustrating the capabilities of our approach to generate accurate 2D and 3D maps.
Keywords :
data acquisition; mobile robots; probability; corrupted readings; data-acquisition phase; indoor scenarios; map building; map generation; mobile robots; multiple person tracking; outdoor scenarios; populated environments; spurious objects; static environment; Computer science; Data mining; Dynamic range; Mobile robots; Path planning; Robot sensing systems; Robustness; Simultaneous localization and mapping; System testing; Working environment noise;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7398-7
Type :
conf
DOI :
10.1109/IRDS.2002.1041439
Filename :
1041439
Link To Document :
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