Learning globally consistent maps by relaxation

Duckett, T. and Marsland, S. and Shapiro, J. (2000) Learning globally consistent maps by relaxation. In: IEEE International Conference on Robotics and Automation, 2000., 24-28 April 2000, San Francisco, CA, USA.

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Item Type:Conference or Workshop contribution (Paper)
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Abstract

Mobile robots require the ability to build their own maps to operate in unknown environments. A fundamental problem is that odometry-based dead reckoning cannot be used to assign accurate global position information to a map because of drift errors caused by wheel slippage. The paper introduces a fast, online method of learning globally consistent maps, using only local metric information. The approach differs from previous work in that it is computationally cheap, easy to implement and is guaranteed to find a globally optimal solution. Experiments are presented in which large, complex environments were successfully mapped by a real robot, and quantitative performance measures are used to assess the quality of the maps obtained.

Keywords:robot mapping, SLAM, smoothing and mapping, simultaneous localization and mapping
Subjects:G Mathematical and Computer Sciences > G700 Artificial Intelligence
Divisions:College of Science > School of Computer Science
ID Code:28666
Deposited On:08 Sep 2017 15:19

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