The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
A real-time algorithm for mobile robot mapping with applications to multi-robot and 3D mapping
Abstract
We present an incremental method for concurrent mapping and localization for mobile robots equipped with 2D laser range finders. The approach uses a fast implementation of scan-matching for mapping, paired with a sample-based probabilistic method for localization. Compact 3D maps are generated using a multi-resolution approach adopted from the computer graphics literature, fed by data from a dual laser system. Our approach builds 3D maps of large, cyclic environments in real-time, and it is robust. Experimental results illustrate that accurate maps of large, cyclic environments can be generated even in the absence of any odometric data.
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Citations
Cites
CONDENSATION—Conditional Density Propagation for Visual Tracking
Isard, M., & Blake, A. (1998) · International Journal of Computer Vision · doi:10.1023/a:1008078328650 · Cited by 4,886
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
MonoSLAM: Real-time single camera SLAM
Davison, A. J., Reid, I. D., Molton, N. D., & Stasse, O. (2007) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2007.1049 · Cited by 3,959
Simultaneous localization and mapping (SLAM): part II
Bailey, T., & Durrant-Whyte, H. (2006) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2006.1678144 · Cited by 2,554
RGB-D mapping: Using Kinect-style depth cameras for dense 3D modeling of indoor environments
Henry, P., Krainin, M., Herbst, E., Ren, X., & Fox, D. (2012) · The International Journal of Robotics Research · doi:10.1177/0278364911434148 · Cited by 1,161
Self-citationSimultaneous 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
Metadata
- Authors
- Thrun, S., Burgard, W., & Fox, D.
- Venue
- Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)
- Publisher
- IEEE
- Published
- 2002-11-07
- Volume
- 1
- Pages
- 321-328
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2121272499
- Cited by
- 686
- References
- 1
- FWCI
- 98.03
- Type
- conference paper
- Language
- en
- Open access
- closed
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- The paper
- Thrun, S., Burgard, W., & Fox, D. (2002). A real-time algorithm for mobile robot mapping with applications to multi-robot and 3D mapping. Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065). https://doi.org/10.1109/robot.2000.844077
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
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.
