A frontier-based approach for autonomous exploration
CIRA '97 Proceedings of the 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Stanley: The robot that won the DARPA Grand Challenge: Research Articles
Journal of Robotic Systems - Special Issue on the DARPA Grand Challenge, Part 2
FAB-MAP: Probabilistic Localization and Mapping in the Space of Appearance
International Journal of Robotics Research
On fast exploration in 2D and 3D terrains with multiple robots
Proceedings of The 8th International Conference on Autonomous Agents and Multiagent Systems - Volume 1
Coordinated multi-robot exploration
IEEE Transactions on Robotics
Fast image-based localization using direct 2D-to-3D matching
ICCV '11 Proceedings of the 2011 International Conference on Computer Vision
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We present an autonomous system for outdoor terrain (road) mapping using a robot equipped with viable low cost sensors (2D laser scanner, cameras, odometry, gyroscope and commercial GPS). The research work on outdoor navigation with known maps has matured well in past few years, but navigation and exploration of roads in an unknown area is still emerging. The presented system is an amalgamation of various computation modules running in parallel and interacting asynchronously with each other through message queues. The goal of the system is for a vehicle to explore and build a road network graph of a given area by autonomously navigating through all the connected roads in the area. The graph nodes contain topographic and semantic properties to allow reconstruction of the road network at a later stage for easier navigation.