Explore and return: experimental validation of real-time concurrent mapping and localization
- 25 June 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 1802-1809
- https://doi.org/10.1109/robot.2002.1014803
Abstract
This paper describes a real-time implementation of feature-based concurrent mapping and localization (CML) running on a mobile robot in a dynamic indoor environment. Novel characteristics of this work include: (1) a hierarchical representation of uncertain geometric relationships that extends the SPMap framework, (2) use of robust statistics to perform extraction of line segments from laser data in real-time, and (3) the integration of CML with a "roadmap" path planning method for autonomous trajectory execution. These Innovations are combined to demonstrate the ability for a mobile robot to autonomously return back to its starting position within a few centimeters of precision, despite the presence of numerous people walking through the environment.Keywords
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