Probabilistic mapping of an environment by a mobile robot
- 27 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2 (10504729) , 1546-1551
- https://doi.org/10.1109/robot.1998.677346
Abstract
This paper addresses the problem of building large-scale maps of indoor environments with mobile robots. It proposes a statistical approach that describes the map building problem as a constrained maximum-likelihood estimation problem, for which it devises a practical algorithm. Experimental results in large, cyclic environments illustrate the appropriateness of the approach.Keywords
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