DMCA
Appearance-based concurrent map building and localization (2006)
Cached
Download Links
- [www.science.uva.nl]
- [www.iri.upc.edu]
- [www.science.uva.nl]
- [www.iri.upc.edu]
- [www-iri.upc.es]
- [www.science.uva.nl]
- [www-iri.upc.es]
- [www.iri.upc.edu]
- DBLP
Other Repositories/Bibliography
by
J. M. Porta
,
B. J. A. Kröse
| Citations: | 25 - 2 self |
BibTeX
@MISC{Porta06appearance-basedconcurrent,
author = {J. M. Porta and B. J. A. Kröse},
title = {Appearance-based concurrent map building and localization},
year = {2006}
}
Share
 |
 |
 |
 |
||
OpenURL
Abstract
In appearance-based robot localization the environment map does not represent geometrical features but consists of an appearance map, which is a collection of robot poses and corresponding sensor observations. In this paper, we describe a concurrent map-building and localization (CML) system based on a multi-hypotheses tracker that is able to autonomously build and refine the appearance-map required for localization as the robot moves in the environment. The results included in the paper validate our approach.
