Paper Info
Title
Topological Global Localization and Mapping with Fingerprints and Uncertainty
Abstract
Navigation in unknown or partially unknown environments remains one of the biggest challenges in today's mobile robotics. Environmental modeling, perception, localization and mapping are all needed for a successful approach. The contribution of this paper resides in the extension of the fingerprint concept (circular list of features around the robot) with uncertainty modeling, in order to improve localization and allow for automatic map building. The uncertainty is defined as the probability of a feature of being present in the environment when the robot perceives it. The whole approach is presented in details and viewed in a topological optic. Experimental results of the perception and localization capabilities with a mobile robot equipped with two 180° laser range finders and an omni- directional camera are reported.
Year
DOI
Venue
2004
10.1007/11552246_10
international symposium on experimental robotics
Keywords
DocType
Citations 
mobile robot
Conference
11
PageRank 
References 
Authors
0.74
12
3
Name
Order
Citations
PageRank
Adriana Tapus163865.04
Nicola Tomatis269951.47
Roland Siegwart37640551.49