TY - GEN
T1 - Incremental robot mapping with fingerprints of places
AU - Tapus, Adriana
AU - Siegwart, Roland
PY - 2005/12/1
Y1 - 2005/12/1
N2 - 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.
AB - 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.
KW - Cognitive representation
KW - Fingerprint of places
KW - Mapping
U2 - 10.1109/IROS.2005.1544977
DO - 10.1109/IROS.2005.1544977
M3 - Conference contribution
AN - SCOPUS:51349083202
SN - 0780389123
SN - 9780780389120
T3 - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 172
EP - 177
BT - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
T2 - IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
Y2 - 2 August 2005 through 6 August 2005
ER -