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Título : Concurrent map building and localization on indoor dynamic environments
Autor : Andrade-Cetto, J., Sanfeliu Cortés, Alberto
Palabras clave : Mobile robot map learning
Mobile robot navigation
Extended Kalman filter
Fecha de publicación : 2002
Editor: World Scientific Publishing
Resumen: 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.
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ISSN: 0218-0014
DOI: 10.1142/S0218001402001745
Citación : International Journal of Pattern Recognition and Artificial Intelligence 16(3): 361-374 (2002)
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