A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots

Authors:
Sebastian Thrun;Wolfram Burgard;Dieter Fox
Affiliations:
Computer Science Department and Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213-3891. http://www.cs.cmu.edu/∼thrun;Institut für Informatik III, Universität Bonn, D-53117 Bonn, Germany. http://www.cs.uni-bonn.de/∼wolfram;Institut für Informatik III, Universität Bonn, D-53117 Bonn, Germany. http://www.cs.uni-bonn.de/∼fox
Venue:
Machine Learning - Special issue on learning in autonomous robots
Year:
1998

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Abstract

This paper addresses the problem of building large-scalegeometric maps of indoor environments with mobile robots. It posesthe map building problem as a constrained, probabilisticmaximum-likelihood estimation problem. It then devises a practicalalgorithm for generating the most likely map from data, along with themost likely path taken by the robot. Experimental results in cyclicenvironments of size up to 80 by 25 meter illustrate theappropriateness of the approach.