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AROBOTS
1998

A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots

11 years 6 months ago
A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots
This paper addresses the problem of building large-scale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximum-likelihood estimation problem. It then devises a practical algorithm for generating the most likely map from data, along with the most likely path taken by the robot. Experimental results in cyclic environments of size up to 80 by 25 meter illustrate the appropriateness of the approach.
Sebastian Thrun, Wolfram Burgard, Dieter Fox
Added 21 Dec 2010
Updated 21 Dec 2010
Type Journal
Year 1998
Where AROBOTS
Authors Sebastian Thrun, Wolfram Burgard, Dieter Fox
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