CONCURRENT MAP BUILDING AND LOCALIZATION ON INDOOR DYNAMIC ENVIRONMENTS

Concurrent Map Building and Localization on Indoor Dynamic Environments

A system that builds and maintains a dynamic map for a mobile robot is presented. A learning rule associated to each observed landmark is used to compute its robustness. The position of the robot during map construction is estimated by combining sensor readings, motion commands, and the current map state by means of an Extended Kalman Filter. The combination of landmark strength validation and ...

Appearance-based concurrent map building and localization

Appearance-based autonomous robot localization has some advantages over landmarkbased localization as, for instance, the simplicity of the processes applied to the sensor readings. The main drawback of appearance-based localization is that it requires a map including images taken at known positions in the environment where the robot is expected to move. In this paper, we describe a concurrent m...

Effective Method for Autonomous Simultaneous Localization and Map Building in Unknown Indoor Environments

Concurrent Map Building and Localization with Landmark Validation

This communication addresses the issue of concurrent map building and localization (CML) for a mobile robot in an unknown environment. The proposed solution extends over previous contributions in that the environment must not be static, nor the landmarks be uniquely identifiable. To this aim we introduce a map model that includes not only the robot and landmark locations in a reference frame, b...

Concurrent matching, localization and map building using invariant features

A common way of localization in robotics is using triangulation on a system composed of a sensor and some landmarks (which can be artificial or natural). First, when no identifying marks are set on the landmarks, their identification by a robust algorithm is a complex problem which may be solved thanks to correspondence graphs. Second, when the localization system has no a priori information ab...