Robust mobile robot map building using sonar and vision
نویسندگان
چکیده
We describe the development of a robust map acquisition method for mobile robots in indoor environments. A grid-based representation of the environment is derived from sonar sensor data, and, concurrently, corners and edges are detected and matched with visual landmarks in order to correct the robot pose estimation. We present experimental results of maps acquired using the ApriAlphaTM home robot.
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تاریخ انتشار 2005