A Real-Time Algorithm for Mobile Robot Mapping With Applications to Multi-Robot and 3D Mapping
Submitted by mkrainin on Tue, 2012-02-28 12:21
| Title | A Real-Time Algorithm for Mobile Robot Mapping With Applications to Multi-Robot and 3D Mapping |
| Publication Type | Conference Paper |
| Year of Publication | 2000 |
| Authors | Thrun S, Burgard W, Fox D |
| Conference Name | ICRA |
| Abstract | <p>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 build 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.</p> |
| Downloads | PS |
| Citation Key | Thr00Rea |
Last changed Fri, 2012-03-16 17:30

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