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Title

Concurrent map building and localization with landmark validation

AuthorsAndrade-Cetto, Juan ; Sanfeliu, Alberto
KeywordsMap building
Mobile robot navigation
CML
SLAM
Automation: Robots
Robots
Robotics
Issue Date2002
PublisherInstitute of Electrical and Electronics Engineers
Citation16th International Conference on Pattern Recognition: 693-696 (2002)
AbstractThis 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.
DescriptionInternational Conference on Pattern Recognition (ICPR), 2002, Quebec (Canadá)
URIhttp://hdl.handle.net/10261/30225
DOIhttp://dx.doi.org/10.1109/ICPR.2002.1048396
ISBN076951695X
Appears in Collections:(IRII) Comunicaciones congresos
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