We present an incremental method for concurrent mapping and localization for mobile robots equipped with 2 0 laser range Jinders. The approach uses a fast implementation of scan-matching for mapping, paired with a sample-based probabilistic method for localization. Compact 3 0 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 30 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.
A computationally less complex approach was chosen by REF using a multi-resolution approach adopted from the computer graphics literature.
A real-time algorithm for mobile robot mapping with applications to multi-robot and 3D mapping
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)
Computer Science