Incremental robot mapping with fingerprints of places
- 1 January 2005
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- No. 21530858,p. 2429-2434
- https://doi.org/10.1109/iros.2005.1544977
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/spl deg/ laser range finders and an omni-directional camera are also reported.Keywords
This publication has 16 references indexed in Scilit:
- Towards Autonomous Topological Place Detection Using the Extended Voronoi GraphPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2006
- Topology learning and recognition using Bayesian programming for mobile robot navigationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Hybrid simultaneous localization and map building: a natural integration of topological and metricRobotics and Autonomous Systems, 2003
- A Probabilistic On-Line Mapping Algorithm for Teams of Mobile RobotsThe International Journal of Robotics Research, 2001
- Mobile Robot Localization and Map BuildingPublished by Springer Nature ,1999
- Learning metric-topological maps for indoor mobile robot navigationPublished by Elsevier ,1998
- Vision-based motion planning and exploration algorithms for mobile robotsIEEE Transactions on Robotics and Automation, 1998
- Directed Sonar Sensing for Mobile Robot NavigationPublished by Springer Nature ,1992
- A general method applicable to the search for similarities in the amino acid sequence of two proteinsJournal of Molecular Biology, 1970
- Cognitive maps in rats and men.Psychological Review, 1948