On the representation and estimation of spatial uncertainly
International Journal of Robotics Research
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
Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans
Journal of Intelligent and Robotic Systems
Sonar-Based Mapping of Large-Scale Mobile Robot Environments using EM
ICML '99 Proceedings of the Sixteenth International Conference on Machine Learning
Learning models for robot navigation
Learning models for robot navigation
Learning topological maps with weak local odometric information
IJCAI'97 Proceedings of the Fifteenth international joint conference on Artifical intelligence - Volume 2
Spatial learning for navigation in dynamic environments
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Cognitive Maps in Rats and Robots
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
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
Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
International Journal of Robotics Research
Metric embedding of view-graphs
Autonomous Robots
Appearance-based localization for mobile robots using digital zoom and visual compass
Robotics and Autonomous Systems
Distributed Localization of Modular Robot Ensembles
International Journal of Robotics Research
Metric-topological maps from laser scans adjusted with incremental tree network optimizer
Robotics and Autonomous Systems
On measuring the accuracy of SLAM algorithms
Autonomous Robots
Covariance recovery from a square root information matrix for data association
Robotics and Autonomous Systems
Nonlinear constraint network optimization for efficient map learning
IEEE Transactions on Intelligent Transportation Systems
Visual topological SLAM and global localization
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A parallel maximum likelihood algorithm for robot mapping
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Interpersonal maps: how to map affordances for interaction behaviour
Proceedings of the 2006 international conference on Towards affordance-based robot control
Persistent Navigation and Mapping using a Biologically Inspired SLAM System
International Journal of Robotics Research
Self-Organizing Sensorimotor Maps Plus Internal Motivations Yield Animal-Like Behavior
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
iSAM2: Incremental smoothing and mapping using the Bayes tree
International Journal of Robotics Research
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
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To navigate in unknown environments, mobile robots require the ability to build their own maps. A major problem for robot map building is that odometry-based dead reckoning cannot be used to assign accurate global position information to a map because of cumulative drift errors. This paper introduces a fast, on-line algorithm for learning geometrically consistent maps using only local metric information. The algorithm works by using a relaxation technique to minimize an energy function over many small steps. The approach differs from previous work in that it is computationally cheap, easy to implement and is proven to converge to a globally optimal solution. Experiments are presented in which large, complex environments were successfully mapped by a real robot.