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Estimating uncertain spatial relationships in robotics
Abstract
In this paper, we describe a representation for spatial information, called the stochastic map, and associated procedures for building it, reading information from it, and revising it incrementally as new information is obtained.The map contains the estimates of relationships among objects in the map, and their uncertainties, given all the available information.The procedures provide a general solution to the problem of estimating uncertain relative spatial relationships.The estimates are probabilistic in nature, an advance over the previous, very conservative, worst-case approaches to the problem.Finally, the procedures are developed in the context of state-estimation and filtering theory, which provides a solid basis for numerous extensions.
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Citations
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
Robust Monte Carlo localization for mobile robots
Thrun, S., Fox, D., Burgard, W., & Dellaert, F. (2001) · Artificial Intelligence · doi:10.1016/s0004-3702(01)00069-8 · Cited by 1,809
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
iSAM: Incremental Smoothing and Mapping
Kaess, M., Ranganathan, A., & Dellaert, F. (2008) · IEEE Transactions on Robotics · doi:10.1109/tro.2008.2006706 · Cited by 1,076
Metadata
- Authors
- Smith, R., Self, M., & Cheeseman, P.
- Venue
- Proceedings. 1987 IEEE International Conference on Robotics and Automation
- Published
- 2005-03-23
- Volume
- 4
- Pages
- 850-850
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2173782939
- Cited by
- 757
- References
- 0
- FWCI
- 139.80
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Smith, R., Self, M., & Cheeseman, P. (2005). Estimating uncertain spatial relationships in robotics. Proceedings. 1987 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/robot.1987.1087846
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