The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Simultaneous map building and localization for an autonomous mobile robot
Abstract
Discusses a significant open problem in mobile robotics: simultaneous map building and localization, which the authors define as long-term globally referenced position estimation without a priori information. This problem is difficult because of the following paradox: to move precisely, a mobile robot must have an accurate environment map; however, to build an accurate map, the mobile robot's sensing locations must be known precisely. In this way, simultaneous map building and localization can be seen to present a question of 'which came first, the chicken or the egg?' (The map or the motion?) When using ultrasonic sensing, to overcome this issue the authors equip the vehicle with multiple servo-mounted sonar sensors, to provide a means in which a subset of environment features can be precisely learned from the robot's initial location and subsequently tracked to provide precise positioning.>
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Citations
Cites
Mobile robot localization by tracking geometric beacons
Leonard, J. J., & Durrant-Whyte, H. F. (1991) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.88147 · Cited by 1,245
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Simultaneous localization and mapping: part I
Durrant-Whyte, H., & Bailey, T. (2006) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2006.1638022 · Cited by 4,199
Self-citationSquare Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
Dellaert, F., & Kaess, M. (2006) · The International Journal of Robotics Research · doi:10.1177/0278364906072768 · Cited by 922
Simultaneous Localization and Mapping: A Survey of Current Trends in Autonomous Driving
Bresson, G., Alsayed, Z., Yu, L., & Glaser, S. (2017) · IEEE Transactions on Intelligent Vehicles · doi:10.1109/tiv.2017.2749181 · Cited by 885
Choset, H., & Nagatani, K. (2001) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.928558 · Cited by 624
Simultaneous 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
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Metadata
- Authors
- Leonard, J. J., & Durrant-Whyte, H. F.
- Venue
- Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91
- Publisher
- IEEE
- Published
- 2002-12-09
- Pages
- 1442-1447
- OpenAlex
- W2118429180
- Cited by
- 805
- References
- 1
- FWCI
- 67.55
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Leonard, J. J., & Durrant-Whyte, H. F. (2002). Simultaneous map building and localization for an autonomous mobile robot. Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91. https://doi.org/10.1109/iros.1991.174711
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