Publication
Concurrent map building and localization on indoor dynamic environments
Journal Article (2002)
Journal
International Journal of Pattern Recognition and Artificial Intelligence
Pages
361-374
Volume
16
Number
3
Doc link
http://dx.doi.org/10.1142/S0218001402001745
File
Abstract
A system that builds and maintains a dynamic map for a mobile robot is presented. A learning rule associated to each observed landmark is used to compute its robustness. The position of the robot during map construction is estimated by combining sensor readings, motion commands, and the current map state by means of an Extended Kalman Filter. The combination of landmark strength validation and Kalman filtering for map updating and robot position estimation allows for robust learning of moderately dynamic indoor environments.
Categories
robots.
Author keywords
mobile robot map learning, mobile robot navigation, CML, SLAM, extended Kalman filter
Scientific reference
J. Andrade-Cetto and A. Sanfeliu. Concurrent map building and localization on indoor dynamic environments. International Journal of Pattern Recognition and Artificial Intelligence, 16(3): 361-374, 2002.
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