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Open Access item Concurrent map building and localization with landmark validation

Authors:Andrade-Cetto, J.
Sanfeliu Cortés, Alberto
Keywords:Map building, Mobile robot navigation, CML, SLAM, Automation: Robots, Robots, Robotics
Issue Date:2002
Publisher:Institute of Electrical and Electronics Engineers
Citation:16th International Conference on Pattern Recognition: 693-696 (2002)
Abstract: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.
Description:International Conference on Pattern Recognition (ICPR), 2002, Quebec (Canadá)
Appears in Collections:(IRII) Comunicaciones congresos

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