The DOI matches its Crossref record; 2 of the 2 references it cites were found in a registry or an index.
Map building with mobile robots in populated environments
Abstract
The problem of generating maps with mobile robots has received considerable attention over the past years. However, most of the approaches assume that the environment is static during the data-acquisition phase. In this paper we consider the problem of creating maps with mobile robots in populated environments. Our approach uses a probabilistic method to track multiple people and to incorporate the results of the tracking technique into the mapping process. The resulting maps are more accurate since corrupted readings are treated accordingly during the matching phase and since the number of spurious objects in the resulting maps is reduced. Our approach has been implemented and tested on real robot systems in indoor and outdoor scenarios. We present several experiments illustrating the capabilities of our approach to generate accurate 2D and 3D maps.
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Citations
Cites
Globally Consistent Range Scan Alignment for Environment Mapping
Lu, F., & Milios, E. (1997) · Autonomous Robots · doi:10.1023/a:1008854305733 · Cited by 1,304
Incremental mapping of large cyclic environments
Gutmann, J.-S., & Konolige, K. (2003) · Proceedings 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation. CIRA'99 (Cat. No.99EX375) · doi:10.1109/cira.1999.810068 · Cited by 568
Cited by
Grisetti, G., Stachniss, C., & Burgard, W. (2005) · Proceedings of the 2005 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.2005.1570477 · Cited by 734
Self-citationSimultaneous Localization, Mapping and Moving Object Tracking
Wang, C.-C., Thorpe, C., Thrun, S., Hebert, M., & Durrant-Whyte, H. (2007) · The International Journal of Robotics Research · doi:10.1177/0278364907081229 · Cited by 596
Hahnel, D., Burgard, W., Fox, D., & Thrun, S. (2004) · Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453) · doi:10.1109/iros.2003.1250629 · Cited by 572
Self-citationMap-Based Precision Vehicle Localization in Urban Environments
Levinson, J., Montemerlo, M., & Thrun, S. (2007) · Robotics: Science and Systems III · doi:10.15607/rss.2007.iii.016 · Cited by 477
Montemerlo, M., Roy, N., & Thrun, S. (2004) · Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453) · doi:10.1109/iros.2003.1249235 · Cited by 326
Metadata
- Authors
- Hahnel, D., Schulz, D., & Burgard, W.
- Venue
- IEEE/RSJ International Conference on Intelligent Robots and System
- Publisher
- IEEE
- Published
- 2003-06-25
- Volume
- 1
- Pages
- 496-501
- OpenAlex
- W1757088154
- Cited by
- 167
- References
- 2
- FWCI
- 41.34
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Hahnel, D., Schulz, D., & Burgard, W. (2003). Map building with mobile robots in populated environments. IEEE/RSJ International Conference on Intelligent Robots and System. https://doi.org/10.1109/irds.2002.1041439
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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