Globally Consistent Range Scan Alignment for Environment Mapping
Autonomous Robots
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Design and Analysis of Experiments
Design and Analysis of Experiments
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
A multilevel relaxation algorithm for simultaneous localization and mapping
IEEE Transactions on Robotics
Metric-based iterative closest point scan matching for sensor displacement estimation
IEEE Transactions on Robotics
Improved Techniques for Grid Mapping With Rao-Blackwellized Particle Filters
IEEE Transactions on Robotics
Large-Scale 6-DOF SLAM With Stereo-in-Hand
IEEE Transactions on Robotics
Topological map induction using neighbourhood information of places
Autonomous Robots
Comparing ICP variants on real-world data sets
Autonomous Robots
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Experiments are essential ingredients of science, both to confirm/refute a theory and to discover new theories. It is a common belief that experimentation in mobile robotics has not yet reached a level of maturity comparable with that reached in science, for example in physics, considered as the paradigm of a mature, stable, and well-founded scientific discipline. In this paper, starting from a representative sample of the current state of the art, we identify some basic issues of experiments in mobile robot localization and mapping. These issues, when viewed in the context of some general principles about experiments in science and engineering, lead us to derive some insightful considerations on the role of experiments in mobile robotics. Reflecting the background of the authors, the paper has an interdisciplinary nature at the meeting point of mobile robotics and philosophy of science.