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A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots
- Machine Learning
, 1998
"... . This paper addresses the problem of building large-scale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximum-likelihood estimation problem. It then devises a practical algorithm for generating the most likely map from ..."
Abstract
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Cited by 483 (43 self)
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. This paper addresses the problem of building large-scale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximum-likelihood estimation problem. It then devises a practical algorithm for generating the most likely map from
Planned Perception within Concurrent Mapping and
"... Planned perception within concurrent mapping and ..."
Cooperative Concurrent Mapping and Localization
, 2002
"... Autonomous vehicles require the ability to build maps of an unknown environment while concurrently using these maps for navigation. Current algorithms for this concurrent mapping and localization (CML) problem have been implemented for single vehicles, but do not account for extra positional informa ..."
Abstract
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Cited by 77 (3 self)
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Autonomous vehicles require the ability to build maps of an unknown environment while concurrently using these maps for navigation. Current algorithms for this concurrent mapping and localization (CML) problem have been implemented for single vehicles, but do not account for extra positional
Large-Scale Concurrent Mapping and Localization
"... The goal of concurrent mapping and localization (CML) is to enable a mobile robot to build a map of an unknown environment, while simultaneously using this map to navigate. This paper discusses some of the challenges that are encountered in the development of practical real-time implementations of C ..."
Abstract
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Cited by 1 (0 self)
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The goal of concurrent mapping and localization (CML) is to enable a mobile robot to build a map of an unknown environment, while simultaneously using this map to navigate. This paper discusses some of the challenges that are encountered in the development of practical real-time implementations
A computationally efficient method for large-scale concurrent mapping and localization
, 2000
"... Decoupled stochastic mapping (DSM) is a computationally efficient approach to large-scale concurrent mapping and localization. DSM reduces the computational burden of conventional stochastic mapping by dividing the environment into multiple overlapping submap regions, each with its own stochastic ma ..."
Abstract
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Cited by 161 (8 self)
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Decoupled stochastic mapping (DSM) is a computationally efficient approach to large-scale concurrent mapping and localization. DSM reduces the computational burden of conventional stochastic mapping by dividing the environment into multiple overlapping submap regions, each with its own stochastic
Concurrent Map Building and Localization with Landmark Validation
- In Proc. 16th IAPR Int. Conf. Pattern Recog
, 2002
"... This communication addresses the issue of concurrent map building and localization (CML) for a mobile robot in an unknown environment. The proposed solution extends over previous contributions in that the environment must not be static, nor the landmarks be uniquely identifiable. To this aim we intr ..."
Abstract
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Cited by 13 (2 self)
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This communication addresses the issue of concurrent map building and localization (CML) for a mobile robot in an unknown environment. The proposed solution extends over previous contributions in that the environment must not be static, nor the landmarks be uniquely identifiable. To this aim we
Concurrent mapping and localization using sidescan sonar
- IEEE J. Oceanic Engineering
, 2004
"... Abstract—This paper describes and evaluates a concurrent mapping and localization (CML) algorithm suitable for localizing an autonomous underwater vehicle. The proposed CML algorithm uses a sidescan sonar to sense the environment. The returns from the sonar are used to detect landmarks in the vehicl ..."
Abstract
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Cited by 28 (3 self)
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Abstract—This paper describes and evaluates a concurrent mapping and localization (CML) algorithm suitable for localizing an autonomous underwater vehicle. The proposed CML algorithm uses a sidescan sonar to sense the environment. The returns from the sonar are used to detect landmarks
Adaptive Concurrent Mapping and Localization Using Sonar
"... In order to create a truly autonomous vehicle, the task of concurrent mapping and localization (CML) in an a priori unknown environment is an important problem. Traditionally, the task of CML has been sep-arated from the vehicle's motion and sensing strate-gies. We introduce a method for adapti ..."
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In order to create a truly autonomous vehicle, the task of concurrent mapping and localization (CML) in an a priori unknown environment is an important problem. Traditionally, the task of CML has been sep-arated from the vehicle's motion and sensing strate-gies. We introduce a method
CONCURRENT MAPPING AND LOCALIZATION FOR MULTIPLE AUTONOMOUS UNDERWATER VEHICLES
"... This paper considers the problem of cooperative mapping and navigation (CMAN) by multiple autonomous underwater vehicles (AUVs). The goal is for several AUVs to concurrently build maps of an unknown environment, and to use these maps for navigation. This work builds on our previous research in devel ..."
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This paper considers the problem of cooperative mapping and navigation (CMAN) by multiple autonomous underwater vehicles (AUVs). The goal is for several AUVs to concurrently build maps of an unknown environment, and to use these maps for navigation. This work builds on our previous research
Results 1 - 10
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