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Position referencing and consistent world modeling for mobile robots
Abstract
In order to understand its environment, a mobile robot should be able to model consistently this environment, and to locate itself correctly. One major difficulty to be solved is the inaccuracies introduced by the sensors. The approach proposed in this paper to cope with this problem relies on 1) defining general principles to deal with uncertainties : the use of a multisensory system, favo ring of the data collected by the more accurate sensor in a given situation, averaging of different but consistent measurements of the same entity weighted with their associated uncertainties, and 2) a methodology enabling a mobile robot to define its own reference landmarks while exploring its environment. These ideas are presented together with an example of their application on the mobile robot HILARE.
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Cited by
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
A solution to the simultaneous localization and map building (SLAM) problem
Dissanayake, M. W. M. G., Newman, P., Clark, S., Durrant-Whyte, H. F., & Csorba, M. (2001) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.938381 · Cited by 2,661
Globally Consistent Range Scan Alignment for Environment Mapping
Lu, F., & Milios, E. (1997) · Autonomous Robots · doi:10.1023/a:1008854305733 · Cited by 1,304
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
Metadata
- Authors
- Chatila, R., & Laumond, J.
- Venue
- Proceedings. 1985 IEEE International Conference on Robotics and Automation
- Published
- 2005-03-23
- Volume
- 2
- Pages
- 138-145
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W1599888605
- Cited by
- 567
- References
- 0
- FWCI
- 67.16
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Chatila, R., & Laumond, J. (2005). Position referencing and consistent world modeling for mobile robots. Proceedings. 1985 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/robot.1985.1087373
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
