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ISER
2004
Springer

Topological Global Localization and Mapping with Fingerprints and Uncertainty

10 years 1 months ago
Topological Global Localization and Mapping with Fingerprints and Uncertainty
Navigation in unknown or partially unknown environments remains one of the biggest challenges in today's mobile robotics. Environmental modeling, perception, localization and mapping are all needed for a successful approach. The contribution of this paper resides in the extension of the fingerprint concept (circular list of features around the robot) with uncertainty modeling, in order to improve localization and allow for automatic map building. The uncertainty is defined as the probability of a feature of being present in the environment when the robot perceives it. The whole approach is presented in details and viewed in a topological optic. Experimental results of the perception and localization capabilities with a mobile robot equipped with two 180° laser range finders and an omnidirectional camera are reported.
Adriana Tapus, Nicola Tomatis, Roland Siegwart
Added 02 Jul 2010
Updated 02 Jul 2010
Type Conference
Year 2004
Where ISER
Authors Adriana Tapus, Nicola Tomatis, Roland Siegwart
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