On the representation and estimation of spatial uncertainly
International Journal of Robotics Research
Consistent integration and propagation of disparate sensor observations
International Journal of Robotics Research
Shape registration using optimization for mobile robot navigation
Shape registration using optimization for mobile robot navigation
Integration, Coordination and Control of Multi-Sensor Robot Systems
Integration, Coordination and Control of Multi-Sensor Robot Systems
Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans
Journal of Intelligent and Robotic Systems
The interactive museum tour-guide robot
AAAI '98/IAAI '98 Proceedings of the fifteenth national/tenth conference on Artificial intelligence/Innovative applications of artificial intelligence
Position estimation for mobile robots in dynamic environments
AAAI '98/IAAI '98 Proceedings of the fifteenth national/tenth conference on Artificial intelligence/Innovative applications of artificial intelligence
Integrating topological and metroc maps for mobile robot navigation: a statistical approach
AAAI '98/IAAI '98 Proceedings of the fifteenth national/tenth conference on Artificial intelligence/Innovative applications of artificial intelligence
A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots
Machine Learning - Special issue on learning in autonomous robots
Multi-robot collaboration for robust exploration
Annals of Mathematics and Artificial Intelligence
A Probabilistic Approach to Collaborative Multi-Robot Localization
Autonomous Robots
Fast, On-Line Learning of Globally Consistent Maps
Autonomous Robots
Multiview Registration of 3D Scenes by Minimizing Error between Coordinate Frames
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part II
Integration of Topological and Metric Maps for Indoor Mobile Robot Path Planning and Navigation
SETN '02 Proceedings of the Second Hellenic Conference on AI: Methods and Applications of Artificial Intelligence
Fast, Accurate, and Robust Self-Localization in the RoboCup Environment
RoboCup-99: Robot Soccer World Cup III
Large Consistent Geometric Landmark Maps
Revised Papers from the International Workshop on Sensor Based Intelligent Robots
Collaborative Multi-robot Localization
KI '99 Proceedings of the 23rd Annual German Conference on Artificial Intelligence: Advances in Artificial Intelligence
MINERVA: A Tour-Guide Robot that Learns
KI '99 Proceedings of the 23rd Annual German Conference on Artificial Intelligence: Advances in Artificial Intelligence
FastSLAM: a factored solution to the simultaneous localization and mapping problem
Eighteenth national conference on Artificial intelligence
Exploring artificial intelligence in the new millennium
Global Level Path Planning for Mobile Robots in Dynamic Environments
Journal of Intelligent and Robotic Systems
Incorporation of Feature Tracking into Simultaneous Localization and Map Building via Sonar Data
Journal of Intelligent and Robotic Systems
An Automated Method for Large-Scale, Ground-Based City Model Acquisition
International Journal of Computer Vision
International Journal of Robotics Research
A Discussion of Simultaneous Localization and Mapping
Autonomous Robots
The Graph SLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures
International Journal of Robotics Research
International Journal of Robotics Research
Fast and accurate SLAM with Rao-Blackwellized particle filters
Robotics and Autonomous Systems
An Efficient Extension to Elevation Maps for Outdoor Terrain Mapping and Loop Closing
International Journal of Robotics Research
International Journal of Robotics Research
Multi-robot Simultaneous Localization and Mapping using Particle Filters
International Journal of Robotics Research
Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
International Journal of Robotics Research
Metric embedding of view-graphs
Autonomous Robots
A Novel Measure of Uncertainty for Mobile Robot SLAM with Rao-Blackwellized Particle Filters
International Journal of Robotics Research
Reducing drift in differential tracking
Computer Vision and Image Understanding
Trajectory Optimization using Reinforcement Learning for Map Exploration
International Journal of Robotics Research
Globally consistent 3D mapping with scan matching
Robotics and Autonomous Systems
Modeling dynamic scenarios for local sensor-based motion planning
Autonomous Robots
A Scalable Hybrid Multi-robot SLAM Method for Highly Detailed Maps
RoboCup 2007: Robot Soccer World Cup XI
Image and Vision Computing
CONCURRENT PATH CONSTRUCTION FOR GLOBAL MAP BUILDING IN UNKNOWN INDOOR ENVIRONMENTS
Cybernetics and Systems
Subjective local maps for hybrid metric-topological SLAM
Robotics and Autonomous Systems
Experimental Analysis of Sample-Based Maps for Long-Term SLAM
International Journal of Robotics Research
Map Building by Sequential Estimation of Inter-feature Distances
PRICAI '08 Proceedings of the 10th Pacific Rim International Conference on Artificial Intelligence: Trends in Artificial Intelligence
Distributed multirobot exploration, mapping, and task allocation
Annals of Mathematics and Artificial Intelligence
Map Building including Qualitative Reasoning for Aibo Robots
Proceedings of the 2006 conference on Artificial Intelligence Research and Development
Proceedings of the 2006 conference on Artificial Intelligence Research and Development
Distributed Localization of Modular Robot Ensembles
International Journal of Robotics Research
AAAI'04 Proceedings of the 19th national conference on Artifical intelligence
Centibots: very large scale distributed robotic teams
AAAI'04 Proceedings of the 19th national conference on Artifical intelligence
Metric-topological maps from laser scans adjusted with incremental tree network optimizer
Robotics and Autonomous Systems
Improving simultaneous mapping and localization in 3D using global constraints
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 3
An extension of the ICP algorithm for modeling nonrigid objects with mobile robots
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
DP-SLAM: fast, robust simultaneous localization and mapping without predetermined landmarks
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Navigating, Recognizing and Describing Urban Spaces With Vision and Lasers
International Journal of Robotics Research
Using virtual scans for improved mapping and evaluation
Autonomous Robots
On measuring the accuracy of SLAM algorithms
Autonomous Robots
Recognizing places using spectrally clustered local matches
Robotics and Autonomous Systems
Nonlinear constraint network optimization for efficient map learning
IEEE Transactions on Intelligent Transportation Systems
Ground-texture-based localization for intelligent vehicles
IEEE Transactions on Intelligent Transportation Systems
Neural-network-based path planning for a multirobot system with moving obstacles
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews - Special issue on information reuse and integration
PerMIS '07 Proceedings of the 2007 Workshop on Performance Metrics for Intelligent Systems
An efficient parallel approach to random sample matching (pRANSAM)
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
HSM3D: feature-less global 6DOF scan-matching in the Hough/Radon domain
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Visual topological SLAM and global localization
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Mapping opaque and confined environments using proprioception
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Maximum-likelihood sample-based maps for mobile robots
Robotics and Autonomous Systems
6D scan registration using depth-interpolated local image features
Robotics and Autonomous Systems
Reduced state representation in delayed-state SLAM
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A comparison of SLAM algorithms based on a graph of relations
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
An experimental assessment of the HSM3D algorithm for sparse and colored data
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A parallel maximum likelihood algorithm for robot mapping
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Simultaneous multi-line-segment merging for robot mapping using mean shift clustering
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Large-scale loop-closing by fusing range data and aerial image
International Journal of Robotics and Automation
Factoring the Mapping Problem: Mobile Robot Map-building in the Hybrid Spatial Semantic Hierarchy
International Journal of Robotics Research
Information-based compact pose SLAM
IEEE Transactions on Robotics
Using virtual scans to improve alignment performance in robot mapping
PerMIS '08 Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems
Probabilistic speckle decorrelation for 3D ultrasound
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention - Volume Part I
Self-localization in large-scale environments for the bremen autonomous wheelchair
Spatial cognition III
International Journal of Robotics Research
Study of parameterizations for the rigid body transformations of the scan registration problem
Computer Vision and Image Understanding
Map building without localization by estimation of inter-feature distances
Intelligent Data Analysis - Artificial Intelligence
Persistent Navigation and Mapping using a Biologically Inspired SLAM System
International Journal of Robotics Research
Large scale graph-based SLAM using aerial images as prior information
Autonomous Robots
Real-time spherical mosaicing using whole image alignment
ECCV'10 Proceedings of the 11th European conference on computer vision conference on Computer vision: Part III
Measurement selection in untracked freehand 3D ultrasound
MICCAI'10 Proceedings of the 13th international conference on Medical image computing and computer-assisted intervention: Part I
6DOF entropy minimization SLAM for stereo-based wearable devices
Computer Vision and Image Understanding
Robotics and Autonomous Systems
Online probabilistic topological mapping
International Journal of Robotics Research
Journal of Intelligent and Robotic Systems
Mapping for the Support of First Responders in Critical Domains
Journal of Intelligent and Robotic Systems
A probabilistic framework for learning kinematic models of articulated objects
Journal of Artificial Intelligence Research
Inferring laser-scan matching uncertainty with conditional random fields
Robotics and Autonomous Systems
Learning hierarchical object maps of non-stationary environments with mobile robots
UAI'02 Proceedings of the Eighteenth conference on Uncertainty in artificial intelligence
Heuristic-based laser scan matching for outdoor 6d SLAM
KI'05 Proceedings of the 28th annual German conference on Advances in Artificial Intelligence
Fuzzy likelihood estimation based map matching for mobile robot self-localization
FSKD'06 Proceedings of the Third international conference on Fuzzy Systems and Knowledge Discovery
iSAM2: Incremental smoothing and mapping using the Bayes tree
International Journal of Robotics Research
Programming by integration in robotics
EUROCAST'05 Proceedings of the 10th international conference on Computer Aided Systems Theory
Treemap: an O(log n) algorithm for simultaneous localization and mapping
SC'04 Proceedings of the 4th international conference on Spatial Cognition: reasoning, Action, Interaction
RGB-D mapping: Using Kinect-style depth cameras for dense 3D modeling of indoor environments
International Journal of Robotics Research
Map-based navigation in mobile robots
Cognitive Systems Research
Map-based navigation in mobile robots
Cognitive Systems Research
Vision-Based Kidnap Recovery with SLAM for Home Cleaning Robots
Journal of Intelligent and Robotic Systems
WAMbot: Team MAGICian's entry to the Multi Autonomous Ground-robotic International Challenge 2010
Journal of Field Robotics
Information-theoretic compression of pose graphs for laser-based SLAM
International Journal of Robotics Research
A landmark-bounded method for large-scale underground mine mapping
Journal of Field Robotics
A hybrid approach to 2D robotic map evaluation
Proceedings of the Workshop on Performance Metrics for Intelligent Systems
Graph optimization with unstructured covariance: fast, accurate, linear approximation
SIMPAR'12 Proceedings of the Third international conference on Simulation, Modeling, and Programming for Autonomous Robots
Cascaded Evolutionary Estimator for Robot Localization
International Journal of Applied Evolutionary Computation
Real-time 6-DOF multi-session visual SLAM over large-scale environments
Robotics and Autonomous Systems
Multi-view dense 3D modelling of untextured objects from a moving projector-cameras system
Machine Vision and Applications
Robotics and Autonomous Systems
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A robot exploring an unknown environment may need to build a worldmodel from sensor measurements. In order to integrate all the framesof sensor data, it is essential to align the data properly. Anincremental approach has been typically used in the past, in whicheach local frame of data is aligned to a cumulative global model, andthen merged to the model. Because different parts of the model areupdated independently while there are errors in the registration,such an approach may result in an inconsistent model.In this paper, we study the problem of consistent registration ofmultiple frames of measurements (range scans), together with therelated issues of representation and manipulation of spatialuncertainties. Our approach is to maintain all the local frames ofdata as well as the relative spatial relationships between localframes. These spatial relationships are modeled as random variablesand are derived from matching pairwise scans or from odometry. Thenwe formulate a procedure based on the maximum likelihood criterion tooptimally combine all the spatial relations. Consistency is achievedby using all the spatial relations as constraints to solve for thedata frame poses simultaneously. Experiments with both simulated andreal data will be presented.