The representation of the environment of a mobile robot by line models is a popular alternative to occupancy grid maps. Line maps require significantly less memory than occupancy grids and therefore scale better with the size of the environment. They furthermore are more accurate since they do not suffer from discretization problems. In the past a variety of techniques for learning line maps fr...

This paper presents a novel map building approach for path planning purposes, which takes into account the uncertainty inherent in sensor measurements. To this end, Bayesian estimation and Dempster-Shafer evidential theory are used to fuse the sensory information and to update the occupancy and evidential grid maps, respectively. The approach is illustrated using actual measurements from a labo...

A map building algorithm for mobile robots is introduced in this paper. The perceived environment is represented in a map containing in each cell a probability of presence of an object or part of an object. The environment is represented as a collection of modular occupancy grids which are added to the map as far as the mobile robot finds objects outside the existing grids. In this approach a t...

the present paper investigates the advantages of a new class of composite grid structures over conventional grids. thus far, a known grid structure such as orthogrid or isogrid has been used as an orthotropic layer with at most in-plane anisotropy. the present laminated grid is composed of various numbers of thin composite grid layers. the stiffness of the structure can be adjusted by choosing ...

We propose an algorithm for mapping dynamic environments. Our algorithm creates a representation of the environment where objects move over time. Our approach is based on maintaining two occupancy grids in parallel. One grid models the static parts of the environment, and the other models the dynamic parts of the environment. The union of the two provides a complete description of the environme...

Autonomous navigation among humans is, however simple it might seems, a difficult subject which draws a lot a attention in our days of increasingly autonomous systems. From a typical scene from a human environment, diverse shapes, behaviours, speeds or colours can be gathered by a lot of sensors ; and a generic mean to perceive space and dynamics is all the more needed, if not easy. We propose ...

We have developed an algorithm to generate a complete map of the traversable region for a personal assistant robot using monocular vision only. Using multiple taken by a simple webcam, obstacle detection and avoidance algorithms have been developed. Simple Linear Iterative Clustering (SLIC) has been used for segmentation to reduce the memory and computation cost. A simple mapping technique usin...

This paper describes and evaluates an image-based place recognition method for mobile robots based on matching image signatures. The method represents an image as a set of arrays of coarse-scale measurements over subimages. We describe several diierent measurement functions we devised, and show how they can be used conjunctively to improve recognition accuracy. Experimental results show that th...

Applying computer vision feature detectors and descriptors to occupancy grids has important practical applications for the problem of grid map matching in mobile robot localization and mapping, although this approach has received little attention by the community. This review presents a thorough performance evaluation for several combinations of detectors (Harris, KLT, SIFT and SURF) and descri...