A real-time algorithm for mobile robot mapping with applications to multi-robot and 3D mapping

A real-time algorithm for mobile robot mapping with applications to multi-robot and 3D mapping (2000)

by Sebastian Thrun , Wolfram Burgard , Dieter Fox

Venue:	In IEEE International Conference on Robotics and Automation
Citations:	215 - 33 self

Datum	Value	Source
TITLE	A real-time algorithm for mobile robot mapping with applications to multi-robot and 3D mapping	INFERENCE
AUTHOR NAME	Sebastian Thrun	SVM HeaderParse 0.2
AUTHOR AFFIL	1; Computer Science Department; 2; Computer Science Department; Carnegie Mellon University	SVM HeaderParse 0.2
AUTHOR ADDR	Pittsburgh, PA	SVM HeaderParse 0.2
AUTHOR NAME	Wolfram Burgard	SVM HeaderParse 0.2
AUTHOR NAME	Dieter Fox	SVM HeaderParse 0.2
AUTHOR AFFIL	University of Freiburg	SVM HeaderParse 0.2
AUTHOR ADDR	Freiburg, Germany	SVM HeaderParse 0.2
ABSTRACT	We present an incremental method for concurrent mapping and localization for mobile robots equipped with 2D laser range finders. The approach uses a fast implementation of scan-matching for mapping, paired with a sample-based probabilistic method for localization. Compact 3D maps are generated using a multi-resolution approach adopted from the computer graphics literature, fed by data from a dual laser system. Our approach builds 3D maps of large, cyclic environments in real-time. It is remarkably robust. Experimental results illustrate that accurate maps of large, cyclic environments can be generated even in the absence of any odometric data. 1	SVM HeaderParse 0.2
YEAR	2000	INFERENCE
VENUE	In IEEE International Conference on Robotics and Automation	INFERENCE
VENUE TYPE	CONFERENCE	INFERENCE
CITATIONS	20 found	ParsCit 1.0