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.

Hippocampal place cells and entorhinal grid cells have been hypothesized to be able to form map-like spatial representation of the environment, namely cognitive map. In most prior approaches, either neural network methods or only hippocampal models are used for building cognitive maps, lacking biological fidelity to the entorhinal-hippocampal system. This paper presents a novel computational mo...

This paper describes new method for building occupancy grid from single camera, automatic calibration of this method and approach how to use this internal representation for cleaning unknown environment. The algorithm is designed for indoor application. This assumption is used for calculating inverse perspective transformation of the gathered image. The paper brings an overview of path-planning...

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 ...

In this paper we analyze the fundamental aspects of the construction of indoor maps suitable for their use in navigation tasks by a mobile robot We highlight the limitations inherent to the use of a priori maps We show the fundamental problems related to the simultaneous construction of the map and the localization of the robot within this map We describe an experiment with the use of a monocul...

This paper presents a programmable logic-based agent control system that interleaves planning, plan execution and perception. In this system, a program is a collection of logical formulae describing the agent’s relationship to its environment. Two such programs for a mobile robot are described — one for navigation and one for map building — that share much of their code.

Doctor of Philosophy Trinity Term 1995 This thesis examines the theoretical and computational problems associated with map building and localization for autonomous vehicles. In particular, components of a system are described for performing terrain-aided navigation in real time for high speed vehicles or aircraft. Such a system would be able to dynamically construct a map of distinctive natural...

This paper describes a method to automatically build topological maps for robot navigation out of a sequence of visual observations taken from a camera mounted on the robot. This direct non-metrical approach relies completely on the detection of loop closings, i.e. repeated visitations of one particular place. In natural environments, visual loop closing can be very hard, for two reasons. First...

A major problem in map building is due to the imprecision of sensor measures. In this paper we propose a technique, called elastic correction, for correcting the dead-reckoning errors made during the exploration of an unknown environment by a robot capable of identifying landmarks. Knowledge of the environment being acquired is modelled by a relational graph whose vertices and arcs represent, r...

Α generic system for simulating complex dynamical systems along the paradigm of fuzzy cognitive maps (FCM) has been created and tested. The proposed system enables a user to design appropriate FCM structures, by specifying the desired concepts and the various parameters such as sensitivities, as well as a variety of shaping functions. The user is able to see the results, change the parameters, ...