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Registro de acceso abierto 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, CML, SLAM, Extended Kalman filter, Robots
Fecha de publicación :2002
Editor:World Scientific Publishing
Citación :International Journal of Pattern Recognition and Artificial Intelligence 16(3): 361-374 (2002)
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.
Versión del editor:http://dx.doi.org/10.1142/S0218001402001745
URI :http://hdl.handle.net/10261/30533
ISSN:0218-0014
DOI:10.1142/S0218001402001745
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