DMCA
A real-time algorithm for mobile robot mapping with applications to multi-robot and 3D mapping (2000)
Cached
Download Links
- [www.ai.mit.edu]
- [pdf.aminer.org]
- [www.eng.auburn.edu]
- [www-2.cs.cmu.edu]
- [robots.stanford.edu]
- [www.cs.cmu.edu]
- [www8.cs.umu.se]
- DBLP
Other Repositories/Bibliography
| Venue: | In IEEE International Conference on Robotics and Automation |
| Citations: | 318 - 36 self |
BibTeX
@INPROCEEDINGS{Thrun00areal-time,
author = {Sebastian Thrun and Wolfram Burgard and Dieter Fox},
title = {A real-time algorithm for mobile robot mapping with applications to multi-robot and 3D mapping},
booktitle = {In IEEE International Conference on Robotics and Automation},
year = {2000}
}
Share
 |
 |
 |
 |
||
OpenURL
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
Keyphrases
real-time algorithm mobile robot mapping cyclic environment incremental method fast implementation sample-based probabilistic method concurrent mapping laser range finder accurate map computer graphic literature experimental result multi-resolution approach mobile robot odometric data dual laser system
