Explore and return: experimental validation of real-time concurrent mapping and localization
Abstract
This paper describes a real-time implementation of feature-based concurrent mapping and localization (CML) running on a mobile robot in a dynamic indoor environment. Novel characteristics of this work include: (1) a hierarchical representation of uncertain geometric relationships that extends the SPMap framework, (2) use of robust statistics to perform extraction of line segments from laser data in real-time, and (3) the integration of CML with a "roadmap" path planning method for autonomous trajectory execution. These Innovations are combined to demonstrate the ability for a mobile robot to autonomously return back to its starting position within a few centimeters of precision, despite the presence of numerous people walking through the environment.
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The observation of external landmarks is useful to reduce trajectory drift and possibly correct it [185].
“the observation of external landmarks is useful to reduce the trajectory drift and possibly correct it [185].”
From Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age (2016) · cites this paper as [185]
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Multiple View Geometry in Computer Vision
Hartley, R., & Zisserman, A. (2004) · doi:10.1017/cbo9780511811685 · Cited by 21,070 · see citing works
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 · see citing works
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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 · see citing works
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 · see citing works
Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age
Cadena, C., Carlone, L., Carrillo, H., Latif, Y., Scaramuzza, D., Neira, J., Reid, I., & Leonard, J. J. (2016) · IEEE Transactions on Robotics · doi:10.1109/tro.2016.2624754 · Cited by 3,596 · see citing works
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 · see citing works
- Authors
- Newman, P., Leonard, J., Tardos, J. D., & Neira, J.
- Affiliations
- Massachusetts Institute of Technology (US)
- Universidad de Zaragoza (ES)
- Venue
- Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)
- Publisher
- IEEE
- Published
- 2003-06-25
- Volume
- 2
- Pages
- 1802-1809
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2129744044
- Cited by
- 151
- References
- 2
- Citations by year
- 2023: 2 · 2022: 2 · 2020: 1 · 2019: 2 · 2018: 4 · 2017: 8 · 2016: 2 · 2015: 5 · 2014: 3 · 2013: 4 · 2012: 5
- FWCI
- 33.98
- Type
- conference paper
- Language
- en
- Open access
- closed
- Locations
- Proceedings - IEEE International Conference on Robotics and Automation/Proceedings (publishedVersion)
- Topics
- Physical Sciences › Engineering › Aerospace Engineering › Robotics and Sensor-Based Localization
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Robotic Path Planning Algorithms
- Physical Sciences › Computer Science › Artificial Intelligence › Reinforcement Learning in Robotics
- Keywords
- real-time SLAM, mobile robots, dynamic indoor environments, robust statistics, line segment extraction, laser range data
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