Incremental robot mapping with fingerprints of places

Adriana Tapus; Roland Siegwart

doi:10.1109/IROS.2005.1544977

Incremental robot mapping with fingerprints of places

Adriana Tapus, Roland Siegwart

ENAC-IIC-GEL

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Even today, robot mapping is one of the biggest challenges in mobile robotics. Geometric or topological maps can be used by a robot to navigate in the environment. Automatic creation of such maps is still problematic if the robot tries to map large environments. This paper presents a new method for incremental mapping using fingerprints of places. This type of representation permits a reliable, compact, and distinctive environment-modeling and makes navigation and localization easier for the robot. Experimental results for incremental mapping using a mobile robot equipped with a multi-sensor system composed of two 180° laser range finders and an omni-directional camera are also reported.

Original language	English
Title of host publication	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages	172-177
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2005.1544977
Publication status	Published - 1 Dec 2005
Externally published	Yes
Event	IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada Duration: 2 Aug 2005 → 6 Aug 2005

Publication series

Name	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Conference

Conference	IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
Country/Territory	Canada
City	Edmonton, AB
Period	2/08/05 → 6/08/05

Keywords

Cognitive representation
Fingerprint of places
Mapping

Access to Document

10.1109/IROS.2005.1544977

Cite this

@inproceedings{b5648f704fd641bb845993605b4253c4,

title = "Incremental robot mapping with fingerprints of places",

abstract = "Even today, robot mapping is one of the biggest challenges in mobile robotics. Geometric or topological maps can be used by a robot to navigate in the environment. Automatic creation of such maps is still problematic if the robot tries to map large environments. This paper presents a new method for incremental mapping using fingerprints of places. This type of representation permits a reliable, compact, and distinctive environment-modeling and makes navigation and localization easier for the robot. Experimental results for incremental mapping using a mobile robot equipped with a multi-sensor system composed of two 180° laser range finders and an omni-directional camera are also reported.",

keywords = "Cognitive representation, Fingerprint of places, Mapping",

author = "Adriana Tapus and Roland Siegwart",

year = "2005",

month = dec,

day = "1",

doi = "10.1109/IROS.2005.1544977",

language = "English",

isbn = "0780389123",

series = "2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",

pages = "172--177",

booktitle = "2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",

note = "IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 ; Conference date: 02-08-2005 Through 06-08-2005",

}

Tapus, A & Siegwart, R 2005, Incremental robot mapping with fingerprints of places. in 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 1544977, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, pp. 172-177, IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005, Edmonton, AB, Canada, 2/08/05. https://doi.org/10.1109/IROS.2005.1544977

Incremental robot mapping with fingerprints of places. / Tapus, Adriana; Siegwart, Roland.
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2005. p. 172-177 1544977 (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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