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Título: | Concurrent map building and localization with landmark validation |
Autor: | Andrade-Cetto, Juan CSIC ORCID ; Sanfeliu, Alberto CSIC ORCID | Palabras clave: | Map building Mobile robot navigation CML SLAM Automation: Robots Robots Robotics |
Fecha de publicación: | 2002 | Editor: | Institute of Electrical and Electronics Engineers | Citación: | 16th International Conference on Pattern Recognition: 693-696 (2002) | Resumen: | This communication addresses the issue of concurrent map building and localization (CML) for a mobile robot in an unknown environment. The proposed solution extends over previous contributions in that the environment must not be static, nor the landmarks be uniquely identifiable. To this aim we introduce a map model that includes not only the robot and landmark locations in a reference frame, but also a model for landmark quality assessment. Convergence of the map covariance is preserved in the new map model. | Descripción: | International Conference on Pattern Recognition (ICPR), 2002, Quebec (Canadá) | URI: | http://hdl.handle.net/10261/30225 | DOI: | 10.1109/ICPR.2002.1048396 | ISBN: | 076951695X |
Aparece en las colecciones: | (IRII) Comunicaciones congresos |
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