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Open Access item Concurrent map building and localization on indoor dynamic environments

Authors:Andrade-Cetto, J.
Sanfeliu Cortés, Alberto
Keywords:Mobile robot map learning, Mobile robot navigation, CML, SLAM, Extended Kalman filter, Robots
Issue Date:2002
Publisher:World Scientific Publishing
Citation:International Journal of Pattern Recognition and Artificial Intelligence 16(3): 361-374 (2002)
Abstract:A system that builds and maintains a dynamic map for a mobile robot is presented. A learning rule associated to each observed landmark is used to compute its robustness. The position of the robot during map construction is estimated by combining sensor readings, motion commands, and the current map state by means of an Extended Kalman Filter. The combination of landmark strength validation and Kalman filtering for map updating and robot position estimation allows for robust learning of moderately dynamic indoor environments.
Publisher version (URL):http://dx.doi.org/10.1142/S0218001402001745
Appears in Collections:(IRII) Artículos

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