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Visual map making for a mobile robot
Abstract
Mobile robots sense their environment and receive error laden readings. They try to move a certain distance and direction, and do so only approximately. Rather than try to engineer these problems away it may be possible, and may be necessary, to develop map making and navigation algorithms which explicitly represent these uncertainties, but still provide robust performance. The key idea is to use a relational map, which is rubbery and stretchy, rather than try to place observations in a 2-d coordinate system.
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Citations
Cited by
A robust layered control system for a mobile robot
Brooks, R. (1986) · IEEE Journal on Robotics and Automation · doi:10.1109/jra.1986.1087032 · Cited by 7,799
Self-citationiSAM2: Incremental smoothing and mapping using the Bayes tree
Kaess, M., Johannsson, H., Roberts, R., Ila, V., Leonard, J. J., & Dellaert, F. (2012) · The International Journal of Robotics Research · doi:10.1177/0278364911430419 · Cited by 1,362
Visual Place Recognition: A Survey
Lowry, S., Sünderhauf, N., Newman, P., Leonard, J. J., Cox, D., Corke, P., & Milford, M. J. (2016) · IEEE Transactions on Robotics · doi:10.1109/tro.2015.2496823 · Cited by 1,079
Square 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
Soatto, S. (2011) · arXiv · doi:10.48550/arxiv.1110.2053 · Cited by 40
Metadata
- Authors
- Brooks, R.
- Venue
- Proceedings. 1985 IEEE International Conference on Robotics and Automation
- Published
- 2005-03-23
- Volume
- 2
- Pages
- 824-829
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2162197665
- Cited by
- 189
- References
- 0
- FWCI
- 20.56
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Brooks, R. (2005). Visual map making for a mobile robot. Proceedings. 1985 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/robot.1985.1087348
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