Incremental robot mapping with fingerprints of places

Author

Tapus, Adriana ; Siegwart, Roland

Author_Institution

Autonomous Syst. Lab, Ecole Polytechnique Federale de Lausanne, Switzerland

fYear

2005

fDate

2-6 Aug. 2005

Firstpage

2429

Lastpage

2434

Abstract

Even today, robot mapping is one of the biggest challenges in mobile robotics. Geometric or topological maps can be used by a robot to navigate in the environment. Automatic creation of such maps is still problematic if the robot tries to map large environments. This paper presents a new method for incremental mapping using fingerprints of places. This type of representation permits a reliable, compact, and distinctive environment-modeling and makes navigation and localization easier for the robot. Experimental results for incremental mapping using a mobile robot equipped with a multi-sensor system composed of two 180° laser range finders and an omni-directional camera are also reported.

Keywords

cameras; laser ranging; mobile robots; navigation; sensors; environment-modeling; geometric maps; incremental robot mapping; laser range finder; mobile robotics; multisensor system; omnidirectional camera; robot localization; robot navigation; topological maps; Cameras; Cognitive robotics; Encoding; Feature extraction; Fingerprint recognition; Mobile robots; Navigation; Robot kinematics; Robotics and automation; Uncertainty; cognitive representation; fingerprint of places; mapping;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8912-3

Type

conf

DOI

10.1109/IROS.2005.1544977

Filename

1544977