A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots
Machine Learning - Special issue on learning in autonomous robots
Globally Consistent Range Scan Alignment for Environment Mapping
Autonomous Robots
Experimental Comparison of Techniques for Localization and Mapping Using a Bearing-Only Sensor
ISER '00 Experimental Robotics VII
FastSLAM: a factored solution to the simultaneous localization and mapping problem
Eighteenth national conference on Artificial intelligence
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
ARTag, a Fiducial Marker System Using Digital Techniques
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 2 - Volume 02
Map building without localization by dimensionality reduction techniques
Proceedings of the 24th international conference on Machine learning
Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
International Journal of Robotics Research
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This paper proposes an alternative solution to a mapping problem in two different cases; when bearing measurements to features (landmarks) and odometry are measured and when bearing and range measurements to features are measured. Our approach named M-SEIFD (Mapping by Sequential Estimation of Inter-Feature Distances) first estimates inter-feature distances, then finds global position of all the features by enhanced multi-dimensional scaling (MDS). M-SEIFD is different from the conventional SLAM methods based on Bayesian filtering in that robot self-localization is not compulsory and that M-SEIFD is able to utilize prior information about relative distances among features directly. We show that M-SEIFD is able to achieve a decent map of features both in simulation and in real-world environment with a mobile robot.